to decide freely and gladly: to resolve on something, or to consent and agree to it
This is the word's decision side. Underneath it sits an old everyday phrase, "it seems good to me," and in ordinary Greek business documents this verb was the standard way to record that someone had willingly agreed to a contract, a marriage, or a sale. The agreement is real and settled, but the prefix keeps it warm: a person consents because the matter pleases them, not under compulsion.
The New Testament puts this decisive sense to two kinds of use. When God is the one deciding, and an action follows ("God decided to save," "God chose to set his fullness in Christ"), the word names a free and gracious resolve that is not up for review. When people are the ones deciding, it can carry the same contract-like force (the churches "agreed" to send relief and so put themselves under obligation) or a softer note of preference ("we would rather").
The reason this matters is that a flat "was pleased" hides the backbone in the word. In these settings it is closer to "resolved," "determined," or "agreed." The feeling is present, but the center of gravity is the decision itself.