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Section 1.10.32 of “De Finibus Bonorum et Malorum,” written by Cicero in 45 BC
“But so that you may understand where all this error arises—those who accuse pleasure and praise pain—I will lay the whole matter bare, and explain those very things which were said by that inventor of truth and, as it were, architect of the happy life. For no one would ever endure, hate, or flee from pleasure itself simply because it is pleasure, but because great pains follow those who do not know how to pursue pleasure with reason. Nor is there anyone who loves pain itself, because pain is pain, and seeks to acquire it; but because there are times when such circumstances arise that one seeks great pleasure through labor and pain. For indeed, to put it simply, who among us would willingly undergo the laborious exercise of the body unless it were to yield some benefit? And who would justly reproach him who seeks to be in that pleasure, which brings no trouble, or him who flees from pain, since no pleasure is equal to it?”

1914 translation by H. Rackham
“But I must explain to you how this whole mistaken idea of condemning pleasure and praising pain came about, and I will give you a complete account of the system, and expound the actual teachings of the great explorer of truth, the architect of human happiness. No one rejects, dislikes, or avoids pleasure itself, because it is pleasure, but because those who do not know how to pursue pleasure rationally encounter consequences that are extremely painful. Nor again is there anyone who loves or pursues or desires to obtain pain of itself, because it is pain, but because occasionally circumstances occur in which toil and pain can procure him some great pleasure. To take a trivial example, which of us ever undertakes laborious physical exercise, except to obtain some advantage from it? But who has any right to find fault with a man who chooses to enjoy a pleasure that has no annoying consequences, or one who avoids a pain that produces no resultant pleasure?”