How to Approximate the Ideal of Not Needing the Motivation

We understand that the ideal is not to need motivation to do something. But we're accepting that that's hard to achieve. We try to approximate towards that ideal by, for example, making the process of doing something more pleasurable or bringing the outcome closer to home. I'm most compelled to do something when I want to be like someone who does it. So instead of just going to the gym, I would instead think that this is working towards me being a healthy person. And because I am a healthy person, healthy people then go to the gym.