According to Osho, 'deciding' to be a bodhisattva is perilous if you still cling to this shore; it becomes a pious excuse to avoid inner renunciation. A true bodhisattva arises only after total unclinging and egolessness, then chooses to remain briefly—at most one life—to share freely. Inevitably this ripens into Buddhahood, helping from the other shore.
Don’t make a noble plan—first drop all attachment and ego; only then can you stay a little to share love, before naturally moving into full awakening.