"My morality is more to me than learning to fear being nipped by a bigger dog. It is more than even fear of punishment by God. I don't think following rules out of fear is very moral or ethical at all."

I think doing what's right is moral and ethical, no matter why you do it, but I agree that fear of repercussion or expectation of reward aren't the best motivating factors in deciding right/wrong either. For me, the best way is putting myself in another person's position, it's the golden rule, it's walking a mile in their shoes.