In the matters of religion, the examples of Prophet Muhammad SWS are called uswa-e-hasana, and one should try their best to follow these examples. For example, we know that how Prophet SWS used to perform wudu. Unless there is some undue difficulty, we should follow that method because not only that it portrays our love for the Prophet, but it is also the method with the most reward.
Non-religious matters of Prophet’s life are known as the seerah. There is no question of reward and punishment in such matters. For example, we know that Prophet SWS used to ride on camels. If we choose to ride on camels too when we have better means of transportation available, then there is no reward for it. In fact in certain situations we might be held accountable for not taking advantage of the better means of transportation available to us.