David Wilkerson emphasizes the importance of serving God wholeheartedly, urging believers to give their lives and resources joyfully rather than grudgingly. He highlights the example of the Macedonian church, who, despite their poverty, gave generously and volunteered their services to God, demonstrating that true giving comes from a cheerful heart. Wilkerson challenges the notion of giving out of obligation, reminding us that God loves a cheerful giver and that our service should be filled with joy and enthusiasm. He encourages believers to chase away weariness and burdens by embracing faith and the joy of serving the Lord.