A Commentary, Critical, Practical, and Explanatory on the Old and New Testaments, by Robert Jamieson, A.R. Fausset and David Brown  at sacred-texts.com
psa 95:1David (Heb 4:7) exhorts men to praise God for His greatness, and warns them, in God's words, against neglecting His service. (Psa 95:1-11)
The terms used to express the highest kind of joy.
rock--a firm basis, giving certainty of salvation (Psa 62:7).
psa 95:2come . . . presence--literally, "approach," or, meet Him (Psa 17:13).
psa 95:3above . . . gods--esteemed such by men, though really nothing (Jer 5:7; Jer 10:10-15).
psa 95:4The terms used describe the world in its whole extent, subject to God.
psa 95:6come--or, "enter," with solemn forms, as well as hearts.
psa 95:7This relation illustrates our entire dependence (compare Psa 23:3; Psa 74:1). The last clause is united by Paul (Heb 3:7) to the following (compare Psa 81:8),
psa 95:8warning against neglect; and this is sustained by citing the melancholy fate of their rebellious ancestors, whose provoking insolence is described by quoting the language of God's complaint (Num 14:11) of their conduct at Meribah and Massah, names given (Exo 17:7) to commemorate their strife and contention with Him (Psa 78:18, Psa 78:41).
psa 95:10err in their heart--Their wanderings in the desert were but types of their innate ignorance and perverseness.
that they should not--literally, "if they," &c., part of the form of swearing (compare Num 14:30; Psa 89:35).