It sounds like you're trying to decide whether to ride for a greater or maximum health benefit, or to keep it pleasurable and enjoyable. You wrote that you're enjoying the riding you're doing now and that you find it a pleasure. You're also getting the benefits of excerise from it and wrote that the health benefits are a motivator for you. You could change your practice in an attempt to gain greater health benefits, but it might not be as pleasurable or enjoyable, or you could continue to ride for pleasure and joy and the health benefits might not be maximized.

I won't tell you what decision to make, but I can say for myself that I decided to ride the way I enjoy it. I'm sure there is a benefit to exercise, but I am not motivated by that at all and take no interest in straining myself any more than what is necessary to get around the places I enjoy. I suppose if I didn't have anywhere to ride more interesting than a stationary bike in a closet, then I wouldn't do it at all.