5:9a So we aspire to please Him,

And therefore, our (incl.) aim/goal is to please him,
-or-
In conclusion, we set our goal as pleasing him ⌊in everything we do⌋.

5:9b whether we are here in this body or away from it.

whether we are at home ⌊in this earthly body⌋ or away from it,
-or-

⌊This is true⌋ whether we are living ⌊here⌋ or have left.

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