In Srimad-Bhagavatam, Third Canto, Twenty-ninth Chapter, verses 12 and 13, Srila Kapiladeva, while instructing His mother, has given the following characteristics of pure devotional service: "My dear mother, those who are My pure devotees, and who have no desire for material benefit or philosophical speculation, have their minds so much engaged in My service that they are never interested in asking Me for anything—except to be engaged in that service. They do not even beg to live in My abode with Me."

There are five kinds of liberation, namely to become one with the Lord, to live with the Supreme Lord on the same planet, to have the same features as the Lord, to enjoy the same opulences as the Lord and to live as a companion of the Lord. A devotee, what to speak of rejecting material sense gratification, does not even want any of the five kinds of liberation. He is satisfied simply by discharging loving service to the Lord. That is the characteristic of pure devotion. (Nectar of Devotion 1, Characteristics of Pure Devotional Service)