Imam Sadiq (as)'s explanation on Taqwa.

Precaution (taqwa) has three facets:

1. Precaution by dependence on Allah, which means leaving behind
contradiction and going beyond any shade of doubt, and this is the precaution
exercised by the highest.
2. The precaution of Allah, which means to abandon all doubtful matters
and to leave the forbidden (haram) alone; this is the precaution of
the elite.
3. The precaution of the Fire and Punishment, which results in leaving
alone what is forbidden; this is the precaution of the general public.

Precaution is like water flowing in a river. The three levels of precaution
are like trees of every color and variety planted on the bank of that
river, each tree absorbing water from that river according to its essence,
capacity, delicateness and thickness.
Then the benefits, which creatures take from these trees and fruits, are
according to their value and worth. Allah said,

Palm trees having one root and [others] having distinct roots - they
are watered with one water, and We make some of them excel others in
fruit. (13:4)

Precaution in acts of obedience to Allah is like water for the trees, and
the natures of the trees and their fruits in their colors and tastes are like
the measures of belief. Whoever has the highest degree in belief and the
purest nature with respect to the soul has the greatest precaution. He who is careful, and has the purer and more sincere worship: whoever is
like that is nearer to Allah.
But every act of devotion that is founded on something other than precaution
comes to nothing. Allah said,

Is he, therefore, better who laid his foundation on fear of Allah and
[His] good pleasure, or he who laid his foundation on the edge of a
cracking, hollowed bank, so it broke down with him into the fire of
Hell? (9:109)

The explanation of precaution is to avoid entering an affair which contains
no harm simply out of fear of one which does. It is, in reality, obedience
without rebellion, remembrance without forgetfulness, knowledge
without ignorance, and it is accepted by Allah and not rejected.

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Reference: Book, Lantern of Path, teachings of Imam Sadiq (as) compiled, Chapter on Taqwa.