Offenses and Commandments

Hello Rabbi, in the lesson I heard, the Rabbi claimed that secular people, or at least some of them, who do not believe in their commitment to the Torah, are not commanded and their transgressions are not transgressions. At the beginning of the lesson, the Rabbi brought up the example of Oved עזר and cited the Rambam who exempts the worker if he worships out of love or fear and obligates him only if he accepts it as God. The Rambam, at the beginning of the Laws of עזר, describes the root of עזר in the days of man when humans worshipped the stars, etc., but not out of acceptance of God, but out of the knowledge that God, the Holy One, rules over them, only that He has given them honor, and therefore they deserve respect from us. In the second chapter, he goes on to say that the main commandment is not to worship, even though the worker knows that God is God, etc. All of these statements seem to contradict the Rabbi's understanding. It does not sound like the Rambam requires acceptance of God in order to break the commandment according to these statements, and it is possible that the acceptance of God that he mentions is different from how the Rabbi understood it. I would be happy to explain. Thank you very much.