As Kndas said, according to Bhagavad Gita, enjoyment is classified as "su-sukham kartum avyayum". I have a question in that it seems that we are perceiving and executing devotional service through our material senses, so since Srila Prabhupada has established that devotional service immediately places us above material nature and in transendence, doesn't it mean that we are operating on the premise of "happily performed" in terms of devotional service practiced through our conditioned state?