Question

Hello Rabbi. I heard the Rabbi say that a commandment is only such if a person performs the act because God commanded it. Does the Rabbi disagree with those who say that in matters between one person and another this is not the case, and that there is an advantage to acting out of a desire to help?
The Seridei Eish: “It further seems to me that sending portions is meant to increase peace, love, and friendship, as the Chatam Sofer wrote in Orach Chayim sec. 196. Now although regarding all the commandments, greater is one who is commanded and performs, and we recite the blessing, ‘and commanded us’—with regard to sending portions, it is better that one give of his own free will, out of a feeling of love for his fellow Jew; and if he gives only by command, he diminishes the measure of love. And so too with charity: if he gives out of compassion or out of love for the Jewish people, this is better than one who gives out of command and coercion. And see what Maimonides wrote in his Eight Chapters about the dispute among the philosophers whether it is better to act by command or by inner desire, and Maimonides’s decision on the matter.”
Rabbi Rabinovitch (Yad Peshutah there):

As for the reason why one recites a blessing only over commandments between man and God, one may perhaps explain it based on the words of our master in his introduction to Avot, chapter 6… It follows that the highest level in commandments between one person and another, and in doing good to others, is that one should do them out of his own desire and longing, and not because they are commandments of the blessed Creator and His yoke; unlike other commandments, where on the contrary one must emphasize the aspect of obedience—that he acts in order to accept upon himself the yoke of the Kingdom of Heaven—and for them the formula “Who sanctified us with His commandments and commanded us” is fitting.