Charles Ellicott Commentary Deuteronomy 33:3

"Yea, he loveth the people; All his saints are in thy hand: And they sat down at thy feet; [Every one] shall receive of thy words." — Deuteronomy 33:3 (ASV)

Yes, He loved. The connection appears to be this:

From His right hand went a fire, a law for them (Israel).
Loving the peoples also;
(that is, all who should hereafter become His people)
All His saints are in Your hand:
(the hand of Him who spoke on Sinai, and now “speaks from heaven”)
And they are seated at Your feet;
(the feet of the same heavenly Prophet. Compare to Matthew 5:1-2)
Every one shall receive of Your words.

Or, possibly, He, that prophet, will take of Your (that is, of Moses’) words. We know He did so.