What is the original principle regarding the relationship between Muslims and the People of the Book and polytheists: is it peace or war? And what is the meaning of the Prophet's saying, "I have been commanded to fight the people until they testify that there is no god but Allah and that Muhammad is the Messenger of Allah"?

Disbelievers are either peaceful or belligerent. Islam has laid down rules for dealing with each type. Jihad was not legislated to force anyone into Islam, for the rule is: "There shall be no compulsion in [acceptance of] the religion." Rather, fighting is against those who try to prevent Muslims from conveying their message and establishing Allah's authority, in order to achieve freedom of belief and hearing the truth. So, whoever wills may believe, and whoever wills may remain in disbelief. This shows the error in the understanding of those who think that Muslims fight people to make them embrace Islam.