Simply speaking, we have two basic contradictory desires – at least, definitely men do – one is for peace and quiet, the other for grandeur and making a positive difference! – these two desires are mutually exclusive, unless as a person who attained both, the Rebbe, explains, one sees oneself only as a agent of God, hence on one hand, one is constantly at peace, for they have no individual instinctual needs for laziness etc. etc. and on the other hand, they are motivated by their sole/soul purpose!