Right Apprehension; what is the right relation between myself and environment, between myself and others? This is the guiding question which motivates me to evaluate correct action for any given moment.
What do I mean by "right"? Or "correct"?
Correct action is that which expands my horizon of possible interactions with other beings and the environment. This expansion of possibilities I call "joy".
Another way of thinking about it could be called long-term hedonism, since any so-called unselfish act is still a source of gratification.
Loyalty to that which expands interaction is addictive, and creates a feed-back loop of gratification which fosters peaceful relations even amidst the most trying times. It takes initial investment of courage -- but by invoking an island of peace in the midst of turmoil, one creates an irresistable gravity or viral spread.
As for how to live in peace with others when their worldview clashes with mine? Easy! I seek to control only that which is in my sphere of influence -- myself! I take the rational approach of policing only my own being. Letting go of the attempt to control others solves most of my potential interpersonal conflicts.