This Bhagavad-gita is meant for everyone to take perfect knowledge from Krsna and be happy. If you want to become happy actually, then Krsna's instruction you accept. We are already fallen. Now if we want to save ourselves from this fallen condition, take instruction from Krsna and do not try to deviate, do not try to interpret in your own whimsical way, in a rascal way. Simply try to understand what Krsna says. That's all. Then your life will be perfect.
Lecture on Bhagavad-gita 4.1, Bombay, March 21, 1974