”So he came down at once and welcomed him gladly.” (Luke 19:6)
The essence of following Jesus is: “at once”, which means “right away” and “gladly”.

Let’s see how Jesus did during the calling of His first disciples:
“As Jesus was walking beside the Sea of Galilee, he saw two brothers; Simon called Peter and his brother Andrew. They were casting a net into the lake, for they were fishermen. "Come, follow me," Jesus said, "and I will make you fishers of men." At once they left their nets and followed him.

Going on from there, he saw two other brothers, James son of Zebedee and his brother John. They were in a boat with their father Zebedee, preparing their nets. Jesus called them, and immediately they left the boat and their father and followed him. (Matthew 4:18-22)

"No one who puts his hand to the plow and looks back is fit for service in the kingdom of God." (Luke 9:62)

After Jesus healed the paralyzed man, “Immediately he stood up in front of them, took what he had been lying on and went home praising God. (Luke 5:25)

Praises and worships to our God came from the joyfulness within our hearts. God has loved us infinitely; do we still need to seek justification of any kind?