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The only legal right God has over us is when we willing submit ourselves to Him. The main intention of God creating man was so that he could worship God. But not to worship God, because the Seraphim and the Cherubim along with the Angels provided Him with worship. But God wasn't really satisfied with their worship because it wasn't a willing act.
The worship they offered unto God wasn't really from their heart, and God wasn't pleased with such manner of worship. He wanted a worship that was willing, something done completely out of the heart. Hence, he created can. And after creating man He gave Him freewill.
Man was bestowed with the ability to make decisions without being controlled by anyone. That's why Adam and Eve were able to rebel against God because they had freewill. If they had decided to submit themselves to God, the would've enabled God to have control over their fate.
Jeremiah 10:23 - O LORD, I know that the way of man is not in himself: it is not in man that walketh to direct his steps.
For man's own sake, He needs the direction of God. Our existence in this world is like a sojourner in a strange land and the path he is going through is something he is unfamiliar with. So in order to find his way and not get lost, the sojourner needs a compass. We lose our way if God is not the one directing us. God is like our compass here on earth.