Do you think disciples follow and learn because they have to - or because they want to?
Seems to me Jesus never wanted someone to follow Him because they had to, but always wanted them to follow Him because they wanted to.
I can agree with you, Jesus was never imposing or intrusive and neither did he force or pressure anyone to follow him.
I would say that disciples follow and learn because they want to out of a burning desire of love for Jesus and God.
And we have known and believed the love that God hath to us. God is love; and he that dwelleth in love dwelleth in God, and God in him. 1 John 4:16