Eren and Zeke, in general, both aim for the goal of liberating themselves, and more broadly their people, from suffering and achieving freedom. However, their concepts of freedom and happiness are completely different. The freedom Eren seeks is the freedom of an animal. It's the freedom to do what he desires, what his instincts tell him. If I'm hungry, I must be free to find food. If I'm thirsty, I must be free to find water. If I want to go, I must have the right to go. Freedom is a part of Eren's being, and self-satisfaction is how he believes he will achieve happiness. But in his world, he cannot do that. First, there were the Walls and the Titans, then the war and the complex hatred of the outside world towards Paradis. All of these things hinder Eren and prevent him from being satisfied, causing his unhappiness. Having witnessed the past and experienced life among the Marleyan soldiers, Eren quickly realized that the world's hatred for his people was inescapable. Hatred is a cycle of suffering, and Eren had to put an end to it. Eren's desire for freedom and happiness, as well as his disappointment and hatred of the world—not just his own, but that of a long line of Attack Titans and even the Founding Titan Ymir—led Eren to make the extreme decision to destroy the outside world.
Zeke, on the other hand, had a completely different concept of freedom and happiness. For Zeke, even a wild animal is neither free nor happy. Life for Zeke was a cycle of suffering, not only from others but from ourselves. Human needs are the reason for human suffering (personally, this is quite similar to Buddhism, but I'm not Buddhist and I'm not confident in my understanding of Buddhism, so I can't be sure). The personal needs of others conflict with our needs, and our needs conflict with the needs of others; this is the reason for human suffering, and there is no way to change this cycle. The Eldians caused suffering to the world in ancient times, leading to a desire for revenge, which ultimately caused later suffering and rebellion among the Eldians themselves. Grisha's sister's murder led Grisha to rebel and seek revenge, but this indirectly caused suffering for Zeke. Zeke realized that the only way to end this cycle of suffering was to cease to exist. People would not be hungry, in pain, sad, or hateful if they ceased to exist. But killing only continued to bring more suffering, so Zeke chose a plan of mass euthanasia. No more generations, no more days of suffering. No one would have to die, and they would be completely free after extinction.
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