HaShem teaches us to serve Him (Shemot 23:25), because we're His servants (Vayikra 25:42, 25:55), HaShem also teaches that we're His children (Devarim 14:1).
There is a long explanation about these verses in the Zohar (volume 6, 75-85), but I don't understand them.
So could someone please explain to me what it means to be both servants and children of HaShem (according to the Zohar)