(12) I sent him back to you – he is my very heart. (13) I really wanted to keep him with me, so that on your behalf he might serve me while I am in chains for the Good News. (14) But I didn’t want to do anything without your consent, so that your goodness wouldn’t be by force but by free will. (TLV)
Doing the right thing despite how we might feel defines faithfulness. Add to that faithfulness a humble and generous motive and you have a servant’s heart that is a blessing to many and pleasing to God.