We cannot be disobedient disciples. Jesus said in John 14:21a, "Whoever has my commands and obeys them, he is the one who loves me." and John 15:10 says, "If you obey my commands, you will remain in my love..".
Gideon had a choice. We all have choices. God never makes us do anything. The doing flows out of our love for Jesus. Joshua told the people of Israel in 24:15, "But is serving the Lord seems undesirable to you, then CHOOSE for yourselves this day whom you will serve...". We must do likewise.