I wrote this because I was ordered to
He means that his beliefs (the hiiigher power lifestyle they practice) led him to write this.
Kendrick Lamar is referencing a spiritual dream experience he had on September 13th, 2010 when he was visited by the spirit of Lesane Parish Crooks, the birth name of rapper Tupac Shakur. He told Kendrick ‘Dont let me die.’ Kendrick took this as a ‘command’ to never let true Hip Hop and the spirit of Tupac to die, or fade from our culture, and became the catalyst for the album Section.80.
To help improve the meaning of these lyrics, visit "Ab-Souls Outro" by Kendrick Lamar (Ft. Ab-Soul) Lyrics and leave a comment on the lyrics box