There are many Mahayana texts on developing the altruistic, selfless motivation and practices for being a bodhisattva now and in future lifetimes.
This is just one example, but it has a commentary by a real Bodhisattva, Master Hsuan Hua. Enjoy, learn and practice!
https://www.berkeleymonastery.org/uploads/6/3/3/1/6331706/exhortation_to_resolve_upon_bodhi__content__21_feb _2013_with_cover.pdf