Acharya Prashant explains that boredom and emptiness arise when we attempt to control life based on past experiences and prejudices. By choosing only what is familiar and secure, we ensure safety but lose freshness and novelty. This desire for security leads to a repetitive and burdensome existence where nothing new or heart-stirring occurs. He emphasizes that wherever there is a craving for security, boredom is an inevitable outcome, as the mind relies on mechanical memory rather than active consciousness.