A good structure can increase your freedom. Just consider the following:

• Poetry is written in a tight structure or rhyme scheme. E.g., The Iliad was written in dactylic hexameter.
• Poker is a deep and interesting game, but its set up is incredibly simple: Two cards in hand and five on the table.
• Academic papers have a boring and straightforward structure: abstract, introduction, main body, conclusions, references. Yet descriptions of incredibly innovative ideas across a wide variety of fields can be fit into this structure.
• We want the freedom to do whatever we want in our daily lives. But we also need a structure, a routine, to make the most of that freedom.

Incredible creativity and richness can be expressed with relatively constrained structures.

Operating within a structure reduces your freedom, but it also reduces your uncertainty. Freedom without structure is directionless and noisy.

There's also something pleasing about structure. Part of the reason why good poetry is so enjoyable is that we appreciate the author's skill in putting their message into the tight structure. Making a message or story rhyme is harder than writing it out in prose. That's partly why we feel that if it rhymes, it must be true.

Of course, you want a structure that's appropriate for the task. Dactylic hexameter is great for poetry, but you don't want to write a math textbook that way. The wrong structure is worse than having no structure at all.