Minos’s maze was therefore a frightening place, full of danger and bafflement, but successful navigation of it led to great rewards.
This could be seen as a more figurative sense as well, by how the frightening place with all the dangers is the internal conflicts that people have to deal with. Adventures with Anxiety is a great example for that, with how the objective of the game is to struggle with the human's internal anxiety as the wolf and make sure that the human doesn't do anything bad. Dealing with those internal conflicts could lead to that mental freedom, which is the great reward that is mentioned.