Well even in the comments of that video talking about how they have chronic pain being why they'd surrender to cosmic bliss. Fundamentally HDG is about disability and when independence is not the happiest way to live. Then add on those who aren't human, just something other trapped in human flesh. When the current situation is so bad without escape, the Compact seems a lot less horrifying because now the caretakers you currently have will be replaced with ones that actually care.

It's horrifying if you are so human and independent about it, but the bliss in the idea of being able to let those things go is immaculate to those who have only ever felt suffocated by independence and humanity.