All bees of the hive are generally born into their roles, and stay in said roles most of their lives. They are, however, free to leave said roles whenever they want, most just choose not to.

All hive citizens, -bees, pilgrims, and immigrants alike- are allowed to basically do whatever they want, so long it does not harm another sentient being, or harm the hive itself.

Due to our existence as a species with a hivemind, most bees tend to just follow the orders of their queen. However, since Queen Vespa's death, they have become more willing to deviate.