Serving out of Fear or Love

What's better, to serve God out of fear or love?

And now, O Israel, what does the LORD your God ask of you but to fear the LORD your God, to walk in all his ways, to love him, to serve the LORD your God with all your heart and with all your soul, 13 and to observe the LORD's commands and decrees that I am giving you today for your own good?
Deuteronomy 10:12-13

It would seem both are good reasons to serve Him. But here is what the Apostle John wrote:
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There is no fear in love. But perfect love drives out fear, because fear has to do with punishment. The one who fears is not made perfect in love.
1 John 4:18

So I guess the answer is that it is better to serve God out of Love, rather than fear. However, fear of God is a close second best reason.

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