Following Jesus means taking up one's own cross to accompany him on his path, an uncomfortable path that is not one of success or earthly glory, but which leads to true freedom, the freedom from selfishness and sin.
I care little in the existence of a heaven or hell; self respect does not allow me to guide my acts with an eye toward heavenly salvation or hellish punishment. I pursue the good in life because it is beautiful and attracts me; and shun the bad because it is ugly and repulsive. All our acts should originate from the spring of unselfish love, whether there be a continuation after death or not.