Freedom is to be able to do what we want, when we want to.

Freedom is to be able to run a marathon when we want to. In order to exercise this freedom, we need to stick to a disciplined diet and training regimen. 

Freedom is to be able to travel to a far off place when we want to. In order to exercise this freedom, we need to stick to a disciplined line of work that brings us a source of income that lets us afford such travel.

Freedom is to be able to say no to the things we don't want to do. In order to exercise this freedom, we need to build up a reputation that brings us the kind of work we do want to do.

Freedom is to be able to do what we want, when we want to. But the foundation of freedom lies in discipline.