In the Old Testament, God says he draws by "hesed" translated as lovingkindness or steadfast love. Our human response to seeing or becoming aware that God has demonstrated His love for us is to be attracted to God.
Jeremiah 31:3. Clearly attraction rather than compulsion is in view in this Old Testament verse.
In the New Testament, we are drawn (attracted) by seeing or becoming aware that God demonstrated His love for us by dying for us when we were yet sinners.
Romans 5:8. We love Him because He first loved us.
1 John 4:19. Clearly attraction rather than compulsion is in view in these New Testament verses.
John 6:44
“No one can come to Me unless the Father who sent Me draws him; and I will raise him up on the last day.
Here come to Me refers contextually to coming to believe in Christ as Savior and Lord, see the next verse where "everyone who has heard and learned from the Father comes to Me."
John 12:32
“And I, if I am lifted up from the earth, will draw all
people to Myself.”
Here "people" has been supplied as the group "all" (pas) refers to, but actually the idea is all those who become aware of Christ sacrificing His life for humanity will be attracted by His demonstration of love for them. Again our human response to the Father's revealed "Lamb of God" is the inward power that attracts us to Christ.
Isaiah 54:13 NASB
“All your sons will be
[fn] taught by the LORD;
And the well-being of your sons will be great.
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Footnote: or "disciples of the LORD."
In the NASB, when we see Lord in all caps, LORD is used to translate a shortened form of Yahweh. To be a disciple of God indicates not only a person striving to learn the Lord's instructions, but moreover, striving to become like the Lord, or refers to our efforts to become "Christ-like."
Thus,
John 6:45 NASB
“It is written in the Prophets: ‘AND THEY SHALL ALL BE TAUGHT OF GOD.’ Everyone who has heard and learned from the Father, comes to Me.
refers to
Isaiah 54:13, and presents the idea that the person has a heart-felt desire and deep-seat commitment to trust in Christ as their savior and to follow Christ as their Lord and Master. And this inner zeal demonstrates they have been drawn by God's sacrificial love.