To be autotelic is to do things for their own sake rather than to achieve some later goal.
From Four Thousand Weeks - Time Management for Mortals:
To rest for the sake of rest—to enjoy a lazy hour for its own sake—entails first accepting the fact that this is it: that your days aren’t progressing toward a future state of perfectly invulnerable happiness, and that to approach them with such an assumption is systematically to drain our four thousand weeks of their value.
related: atelic