Specifically from Milton‘s Paradise lost, Lucifer is outraged that, when God created mankind, he gave them something he never gave the angels: the free will to choose whether or not to worship God. Angels, the original creation of God, and who were supposed to be perfect, were never given the free will whether or not to worship God. From their creation, they were always forced to worship God.

It was Lucifer‘s argument that, of course, he would choose to, were he actually given that choice. He went to God and demanded that angels be given the same choice as mankind, and God basically told him to go fuck himself. That angels are perfect, and to imply otherwise by suggesting he give angels any kind of choice was, itself, blasphemy.

And thus the war of heaven began, splitting half of the angels of heaven against the other half in a war that lasted millennia. Eventually, the angels that fought for freedom, led by Lucifer, were cast out of heaven into a newly created realm called hell. In their fall, which landed them in hell so very hard, it twisted and mutilated all of them. And that’s how demons were created.

So, this is the motivation of Lucifer, now called Satan, to constantly tempt humankind away from the glory of God, and to choose to worship something else. To tempt humankind into sin... Because they can choose. It’s not so much out of jealousy, but out of spite.