We have to know that Hashem requires Jews to do more than the din. They should do lifnim mishuras hadin. You have to teach the Jewish people what to do, and you must teach them that they must go beyond their obligation. Every day, all day long, it’s remarkable how many opportunities we have — not just opportunities, but sometimes obligations — to do what we are not commanded to do. You’re walking in the street and see a smashed tomato on the sidewalk. It’s none of your business. You didn’t put it there. But who says you can walk by? Right behind you someone might step on it and break a leg, chalilah. People go to the hospital for such things. Don’t say: Where does it say I should stop? Act lifnim mishuras hadin and clean it up.
Do you know how many times these things turn up in life? Some of them are literally pikuach nefesh. Say there’s a family gathering, and as you enter the house you notice an open window and little children romping around. Does it occur to you that one child might lean over the windowsill? There are a lot of things like that in life. You’d be surprised how much opportunity — and in some cases obligation — there is to act and live lifnim mishuras hadin. The Torah of 613 commandments is big, but the obligations beyond the Torah have no end. It says in Tehillim (119:96), “Everything has a limit, but Your commandment is endlessly wide.” The Chovos Halevavos asks: What does it mean “endlessly wide”? There are 613 mitzvos, a limited number. How can the Torah be “endlessly wide”? He answers that the duties of the heart — our thoughts — are endless. And they are duties.

Astor, Yaakov. Rav Avigdor Miller on Olam Haba (pp. 182-183). The Judaica Press, Inc.. Kindle Edition.