What was Baba's core philosophy on happiness and worry, and how did it connect to higher spiritual principles?

According to Chapter 17, Baba's constant advice to his devotees was, "Do not worry in the least; always be full of joy; do not worry until death." This teaching is presented as a practical translation of the profound spiritual principle found in the Taittiriya Shruti, which states, "Brahman is bliss." By advising his followers to remain joyful, Baba was guiding them to experience the nature of Brahman in their daily lives. This guidance is highlighted as a central theme, a boat that helps devotees cross the ocean of worldly existence.