I am assuming you are referring to paid work.
You are getting paid, by the boss, to do what the boss asks of you. It is that simple.
The satisfaction of doing the job is doing a good job. If the boss acknowledges your efforts than that is a pat on the back (so to speak) of appreciation. But if that does not happen you will get self-acknowledgement from actually patting yourself on the back. Yes, it may sound corny, but it often really works.
Also, one should not have to work hard (more than needed) to be efficient.
By being efficient with your job, will please the boss and he will be happy to pay you, and you will feel satisfied even if you have to pat yourself on the back.