Just as Jesus used the Decalogue to restrain and condemn Satan, believers use it to restrain and condemn their flesh. Like Jesus, believers wield the written code against their enemies.
The one who cannot sin did not otherwise need the Decalogue. Similarly, believers, having God’s eternal will written in their hearts by the Spirit, would not need to hear Moses were it not for their ever-present sin.
While believers want to keep the commandments, they find themselves doing what they do not want to do because the flesh is weak, even to the point of clouding their judgment about what God requires. They always need to hear the law to inform them of what they already want to do as new creations. They are glad to learn which works please God and which are just human inventions.
In conclusion, believers delight in the Decalogue precisely because it is so effective in the battle against the flesh. They rejoice even more that their names are written in heaven, for only that good news can truly kill the flesh, burying it in baptism. That gospel promise alone can raise believers to new life.
Acknowledgment. I thank Robert C. Baker for helpful discussions on the third use of the law.