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What drove them was pride, lust for power and greed. All of which are SINS in Christianity.
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But Rome wasnt Christian until Constantine.
Up until that Christians were the "underlings", they were sent into battles, and into the gladiator arenas for not swearing to things by the Roman Gods.
I'm pretty sure what drive them was the Roman Gods. The Gods told them that Power, and conquering all was the "only" way to truly worship them. The more power they have, and the more people Rome enslaved, the more people they could force to worship Roman Gods.