Paul speaks here of voluntarily...
Paul speaks here of voluntarily submitting himself to the law, giving up some of his freedom for a higher purpose. On a California beach, there is a sign indicating that dogs on a leash belong on one side, and "dogs under voice command" belong on the other. Some people approach life legalistically: they need to be leashed. Others are under voice command: it is the relationship with their master that defines their actions. Paul is saying that, for him, this relationship is paramount.
