Because you are sons, God has sent the Spirit of his Son into our hearts, crying, "Abba! Father!" So you are no longer a slave, but a son. This is not a pious wish. It is your status in the New Covenant.
You were a slave, under the law, under performance, under pressure. But Christ ended that. You are now a son, now a daughter. The Spirit in you does not cry "Lord and Master" but "Abba", Dad. That is intimacy, not religion.
Authority grows from this sonship. Not from being loud, but from knowing: I belong to the Father. Whoever has grasped this will no longer be pushed down.