It's quite simple. Children and lawless people need law because they don't know any better, or don't care. As children get older they know their parents and what pleases them, and (hopefully) conduct themselves out of love and respect. It's a totally different paradigm.
Back to the beginning and the garden...
Two trees, the Tree of the Knowledge of Good and Evil and the Tree of Life. Determining right and wrong for ourselves is not the Tree of Life. God reserves that prerogative for Himself. Our choice is which tree will will eat from.
So what pleases God?
Exo 19:5 Now therefore, if ye will obey my voice indeed, and keep my covenant, then ye shall be a peculiar treasure unto me above all people: for all the earth is mine:
Deu 11:26 Behold, I set before you this day a blessing and a curse;
Deu 11:27 A blessing, if ye obey the commandments of the LORD your God, which I command you this day:
Deu 11:28 And a curse, if ye will not obey the commandments of the LORD your God, but turn aside out of the way which I command you this day, to go after other gods, which ye have not known.
Deu 13:4 Ye shall walk after the LORD your God, and fear him, and keep his commandments, and obey his voice, and ye shall serve him, and cleave unto him.
Deu 28:1 And it shall come to pass, if thou shalt hearken diligently unto the voice of the LORD thy God, to observe and to do all his commandments which I command thee this day, that the LORD thy God will set thee on high above all nations of the earth:
Deu 28:2 And all these blessings shall come on thee, and overtake thee, if thou shalt hearken unto the voice of the LORD thy God.
Deu 28:3 Blessed shalt thou be in the city, and blessed shalt thou be in the field.
Deu 28:4 Blessed shall be the fruit of thy body, and the fruit of thy ground, and the fruit of thy cattle, the increase of thy kine, and the flocks of thy sheep.
Deu 28:5 Blessed shall be thy basket and thy store.
Deu 28:6 Blessed shalt thou be when thou comest in, and blessed shalt thou be when thou goest out.
Deu 28:7 The LORD shall cause thine enemies that rise up against thee to be smitten before thy face: they shall come out against thee one way, and flee before thee seven ways.
Deu 28:8 The LORD shall command the blessing upon thee in thy storehouses, and in all that thou settest thine hand unto; and he shall bless thee in the land which the LORD thy God giveth thee.
Deu 28:9 The LORD shall establish thee an holy people unto himself, as he hath sworn unto thee, if thou shalt keep the commandments of the LORD thy God, and walk in his ways.
Deu 28:10 And all people of the earth shall see that thou art called by the name of the LORD; and they shall be afraid of thee.
Deu 28:11 And the LORD shall make thee plenteous in goods, in the fruit of thy body, and in the fruit of thy cattle, and in the fruit of thy ground, in the land which the LORD sware unto thy fathers to give thee.
Deu 28:12 The LORD shall open unto thee his good treasure, the heaven to give the rain unto thy land in his season, and to bless all the work of thine hand: and thou shalt lend unto many nations, and thou shalt not borrow.
Deu 28:13 And the LORD shall make thee the head, and not the tail; and thou shalt be above only, and thou shalt not be beneath; if that thou hearken unto the commandments of the LORD thy God, which I command thee this day, to observe and to do them:
Deu 28:14 And thou shalt not go aside from any of the words which I command thee this day, to the right hand, or to the left, to go after other gods to serve them.
God seems to be obsessed with obedience to His Commandments, statutes and judgments.
Joh 14:15 If ye love me, keep my commandments.
Joh 14:21 He that hath my commandments, and keepeth them, he it is that loveth me: and he that loveth me shall be loved of my Father, and I will love him, and will manifest myself to him.
Joh 15:10 If ye keep my commandments, ye shall abide in my love; even as I have kept my Father's commandments, and abide in his love.
1Jn 5:2 By this we know, that we love the children of the God, when the God we may love and the commandments of him we may keep.
1Jn 5:3 This for is the love of the God, that the commandments of him we may keep; and the commandments of him burdensome not are,
In fact the description of the Saints are those who keep the Commandments...
Rev 12:17 And the dragon was wroth with the woman, and went to make war with the remnant of her seed, which keep the commandments of God, and have the testimony of Jesus Christ.
Rev 14:12 Here is the patience of the saints: here are they that keep the commandments of God, and the faith of Jesus.
In fact...
Psa 19:11 Moreover by them is thy servant warned: and in keeping of them there is great reward.
Wonder what that great reward might be?
Rev 22:14 Blessed are they that do his commandments, that they may have right to the tree of life, and may enter in through the gates into the city.
God tells us what is right and wrong, our choice is whether we will do it or not.