User blog comment:The Milkman/Madness and Genius/@comment-5134521-20121207151902/@comment-4237253-20121208164316

Yes, but those are choices. I'm talking about the choice to do something or not do something. For example, it'd be annoying if doing loyalty missions caused that squadmate to die in the suicide mission. By doing more and being extra prepared, you get rewarded. It encourages you to play more.