Don't practice with reward in mind. Just as you cannot meditate thinking of attaining Jivamukti because that defies meditation itself; you cannot practise postures thinking only of attaining a particular form.
Hatha Yoga is not the only path of Yoga. Neither is meditation. There is a path for each person to attain liberation. Yoga means union, and it can be achieved through different paths:
Karma Yoga: is related to good deeds without expecting anything in return.
Bhakti Yoga: the yoga of devotion to God.
Jnana Yoga: the path of reason, the study of sacred texts. Raja Yoga: the path of meditation, of finding liberation within one's own soul. Hatha Yoga and self-contemplation are often included in this branch.
No matter which path a yogi follows, they all lead to the same end: Liberation, Jivamukti, Moksha.
About the importance of breathing
How to achieve the Jivamukti state
What is Love?
Focus your mind during the practice
Mani Raman - Vedanta Part 1
About the frequency of the practice
The path of Yoga
Lecture on 4 dimensions - Mani Raman
How to leave the pain behind
Mani Raman - Vedanta parte 2