World Government Ideal: Power should be held by a small group of people.
Ancient Kingdom Ideal: Everyone should be free to have power.
The World Government believes power should be limited to a small group of people (Kings) while Joy Boy believes power should be shared freely.
Vegapunk wants to use the Mother Flame to give the world a free energy resource to stop wars.
The Gorosei want to use the Mother Flame to establish control over everyone to stop wars.
Control vs Freedom.
Look at the Reverie, which is more or less a giant party for the World Government, and how the Straw Hats throw a banquet in Wano; the Reverie is all about those who control the world, Wano's celebration had Momo feeding people for free after all the starvation and pain Kaido created.
V. Nusjuro probably describes the World Government/Imu's viewpoints best here:
Vegapunk gave Bonney the ability to "free" the Kuma Pacifistas, by giving them orders to keep them from doing what they wouldn't want to.
Even thought Bonney is controlling them, Bonney is LIBERATING the Pacifista by doing so, as she's giving them the ability to do what Kuma always wanted: protect.
The World Government uses the Pacifista as violent slave war machines.
Look at how Imu treats the Celestial Dragons, like Charlos: like spoiled, coddled brats, who are protected no matter what crimes they commit by the Marine Admirals.
Yin and Yang
Pull and Push
In and Out
Control and Freedom
Mother (Sea) and Father (Sun)
The ocean divides us, but we all live under the same Sun