The classical scholar who articulated this principle most directly is Ibn al-Qayyim رحمه الله. In Madarij al-Salikin, discussing the ranks of worshippers, he asks which worship is most excellent, surveys the answers people give, and then delivers his own verdict, which deserves to be committed to memory.
أَفْضَلُ الْعِبَادَةِ فِي كُلِّ وَقْتٍ مَا هُوَ مُقْتَضَى ذَلِكَ الْوَقْتِ وَوَظِيفَتُهُ
“The most excellent worship at every time is that which is the requirement of that time and its proper function.”
Ibn al-Qayyim, Madarij al-Salikin, in the discussion of the ranks of the worshippers.