20. traividya mam somapah putapapa
yaynair istva svargatim prarthayante
te punyam asadya surendralokam
asnanti divyan didivi devablwgan
(20) The knowers of the three Vedas who drink the soma juice and are cleansed of sin, worshiping Me with sacrifices, pray for the way to heaven They reach the holy world of Indra (the lord of heaven) and enjoy in heaven the pleasures of the gods
21. to tam bhuktvd svargalokam visalam
ksine punye martyalokarh visanti
evam trayidharmam anuprapannd
gatagatam kamakama labhante
(2I) Having enjoyed the spacious world of heaven, they enter (return to) the world of mortals, when their merit is exhausted ; thus conforming to the doctrine enjoined in the three Vedas and desirous of enjoyments, they obtain the changeable (what is subject to birth and death)
The teacher here refers to the Vedic theory that those who perform the prescribed ritual gain heavenly enjoyments after death and points out how it cannot be regarded as the highest goal. Such men are bound by the law of karma as they are still
lured by desire, Kama-kamah, and they will return to this cosmic procession since they act from an ego-center and since their ignorance is not destroyed. If we seek rewards in heaven, we will gain them but we return to mortal existence so long as we do not gain the true aim of life. Human life is an opportunity to develop out of the imperfect material, soul's divine nature. We operate from the ego-centered consciousness, whether we seek the pleasures of this world or of a future paradise.
22. ananyas cintayanto mam
ye janah paryuuasate
yogaksemam vahamy aham
(22) But those who worship Me, meditating on Me alone, to them who ever persevere, I bring attainment of what they have not and security in what they have 
The teacher urges that the Vedic path is a snare to be avoided by the aspirants after the highest.
God takes up all the burdens and the cares of His devotees.
To become conscious of divine love, all other love must be abandoned.If we cast ourselves entirely on the mercy of God, He bears all our cares and sorrows. We can depend on His saving care and energizing grace.
23. ye 'py anyadevatabhakta
yajante sraddhaya 'nvitah
te 'pi main eva kaunteya
(23) Even those who are devotees of other gods, worship them with faith, they also sacrifice to Me alone, 0 Son of Kunti (Arjuna), though not according to the true law. The author of the Gita welcomes light from every quarter of the heaven. It has a right to shine because it is light.