From our Western point of view, it is very much not voluntary and joyful.
Because that is what the English word means. The correct term to use would have been 'order'.
If you don't agree with it, you can complaint to centuries of translators and dictionary makers.
A western-context example of the same phenomenon might be the American notion of freedom. Americans often frame freedom as an absence of government restriction, but that leaves you open to exploitation (or restriction) from private entities. The same definitional dissonance exists, but it depends on which line of the emotional divide you're sitting on.
How do you handle translating that into a language used largely in a context that doesn't have that history?