TOL – the reference was to serving Hashem with Joy not with Ahavas Hashem. You are correct that Yiras Hashem (or at least a certain level of Yiras Hashem) comes first.
But that had nothing to do with what I was talking about. The Joy should always be there, whether we are serving Hashem with Yirah or with Ahava.
True Yiras Hashem is joyous.