A delightful explanation for the relationship between Viṣṇu and jīvātmā-s like humans comes from Svāmi Periyavāchchān Pillai’s vyākhyānam (commentary) on Periyāzhvār’s Thirupallāndu, particularly on the word அடியோமோடும் (adiyōmōdum = I, your foot, and all others who are . . .

servants for you). This word occurs in the second pāsuram of Thirupallāndu. Here, the question arises about why Periyāzhvār didn’t use the word ennōdum (with me). That’s because Periyāzhvār is very clear that his true nature is that of Dāsatvam or servitude to Viṣṇu. But . . .
then another question arises about why Āzhvār used adiyōmōdum (plural) instead of adiyēnōdum (singular)? One, Periyāzhvār wants mangalāsāsanam to Lord Viṣṇu to be done by a group (not just him). Second, he wants to emphasize all beings are servants of Nārāyaṇa (whether . . .
they recognize their nature of dāsatvam/servitude or not), so Periyāzhvār includes everyone in his gōshti (group) to offer mangalāsāsanam-s to Nārāyaṇa.

This universal servitude of all beings to Viṣṇu (whether acknowledged or not) is what Periyāzhvār wants us to take away.

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