Yeah, this is the problem. I quoted the scripture, and you simply choose to think otherwise than what it plainly said. The "burden", and "bondage" is sin.
There are two yokes, the Yoke of Jesus Christ, and His ways, or the yoke of the devil, and his.
Those which laboured, laboured under the burden, the "laden" of several things,
- Ah sinful nation
, a people laden with iniquity
, a seed of evildoers, children that are corrupters: they have forsaken the LORD, they have provoked the Holy One of Israel unto anger, they are gone away backward
. Isaiah 1:4
There is no soundness in my flesh because of thine anger; neither is there any rest in my bones because of my sin. Psalms 33:8
For mine iniquities are gone over mine head: as an heavy burden they are too heavy for me. Psalms 38:4
Is not this the fast that I have chosen? to loose the bands of wickedness, to undo the heavy burdens, and to let the oppressed go free, and that ye break every yoke? Isaiah 58:6
For I perceive that thou art in the gall of bitterness, and in the bond of iniquity. Acts 8:23
Then said Jesus to those Jews which believed on him, If ye continue in my word, then are ye my disciples indeed; John 8:31
And ye shall know the truth, and the truth shall make you free. John 8:32
They answered him, We be Abraham's seed, and were never in bondage to any man: how sayest thou, Ye shall be made free? John 8:33
Jesus answered them, Verily, verily, I say unto you, Whosoever committeth sin is the servant of sin. John 8:34
...and because of their iniquities, corrupt men came in and ladened even further with false practices and ways to overcome sin, rules, regulations of worthlessness, which further nullified the commandments of God.
 Pharisaical, Lawyers, etc rules of works, traditions which negated the Law of God, and the Salvation of God, separating them from the pure and simple faith of Scripture
- For they bind heavy burdens and grievous to be borne, and lay them on men's shoulders
; but they themselves
will not move them with one of their fingers. Matthew 23:4
And he said, Woe unto you also, ye lawyers! for ye lade men with burdens grievous to be borne, and ye yourselves touch not the burdens with one of your fingers. Luke 11:46
 Fear of Eternal Death, because of sin, which is transgression of His Holy, Just and Good Law -
And deliver them who through fear of death were all their lifetime subject to bondage
. Hebrews 2:15
For the wages of sin is death; but the gift of God is eternal life through Jesus Christ our Lord. Romans 6:23
Know ye not, that to whom ye yield yourselves servants to obey, his servants ye are to whom ye obey; whether of sin unto death, or of obedience unto righteousness? Romans 6:16
God/Jesus delivers from these, and gives Rest, which is the bringing us back into harmony with Himself, and His Ways and His Law, thus no longer at enmity, no longer in bondage, no longer servants of satan, but chilren of the Living God:
I am the LORD thy God, which have brought thee out of the land of Egypt, out of the house of bondage. Exodus 20:2
And shewing mercy unto thousands of them that love me, and keep my commandments. Exodus 20:6
Remember the sabbath day, to keep it holy. Exodus 20:8
Six days shalt thou labour, and do all thy work: Exodus 20:9
But the seventh day is the sabbath of the LORD thy God: in it thou shalt not do any work, thou, nor thy son, nor thy daughter, thy manservant, nor thy maidservant, nor thy cattle, nor thy stranger that is within thy gates: Exodus 20:10
For in six days the LORD made heaven and earth, the sea, and all that in them is, and rested the seventh day: wherefore the LORD blessed the sabbath day, and hallowed it. Exodus 20:11
For True Rest, is found in obeying God in His Law, not rebelling against Him in His Law. It is fully trusting in His saving Grace and Power to deliver from Sin/Selfishness, that we put away our own works for deliverance, put away sins, which are transgressions of His Holy Law, by that same Grace, but Rest with Him in His Rest, For He Delivers. The 7th Day Sabbath is the Sign of the Finished Work of Jesus, not only in Creation, but also in Salvation, Redemption in His death, He Rested. Who will trust and belive in His Finished Work with us?
Lucifer in Heaven, brought discord, strife and unrest when he rebelled and sinned in Heaven. And he again brought the same to our first parents, Adam/Eve. He [satan] brings the same to all who will refuse God, and refuse rest with Him [God/Jesus] in the 7th Day of His own choosing.
 The Burden of serving wicked Kings in rigorous bondage, because of their rebellions against God, and therefore their needs of chastizing Leviticus 26:13; Deuteronomy 28:48; Isaiah 9:4, 10:27, 14:25; Jeremiah 27:8; 1 Kings 12:11; Psalms 81:6, etc. For Israel in the time of Jesus was under the bondage of the Roman yoke, for their many transgressions.
Transgression and yoke of Bondage are linked:
For of old time I have broken thy yoke, and burst thy bands; and thou saidst, I will not transgress; when upon every high hill and under every green tree thou wanderest, playing the harlot. Jeremiah 2:20
The yoke of my transgressions is bound by his hand: they are wreathed, and come up upon my neck: he hath made my strength to fall, the Lord hath delivered me into their hands, from whom I am not able to rise up. Lamentations 1:4
The Devil is the Master Bondsman, enslaving all into sin and selfishness. He says get back to work, do not rest as God says, and do not listen to vain and idle words [of His Commandments], even as he said through Pharoah. The devil says the same through the world today... get back to work! Do not listen to God's requirements.
Yet Jesus came to set us free from the bondage of the Cruel Taskmaster, and brings us safely back into Harmony with Himself:
And it shall come to pass in the day that the LORD shall give thee rest from thy sorrow, and from thy fear, and from the hard bondage wherein thou wast made to serve, Isaiah 14:3
And he said, My presence shall go with thee, and I will give thee rest. Exodus 33:14