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In this paper, a simple case of Bayesian mechanics under the free energy principle is formulated in axiomatic terms. We argue that any dynamical system with constraints on its dynamics necessarily looks as though it is performing inference against these constraints, and that in a non-isolated system, such constraints imply external environmental variables embedding the system. Using aspects of classical dynamical systems theory in statistical mechanics, we show that this inference is equivalent to a gradient ascent on the Shannon entropy functional, recovering an approximate Bayesian inference under a locally ergodic probability measure on the state space. We also use some geometric notions from dynamical systems theory$\unicode{x2014}$namely, that the constraints constitute a gauge degree of freedom$\unicode{x2014}$to elaborate on how the desire to stay self-organised can be read as a gauge force acting on the system. In doing so, a number of results of independent interest are given. Overall, we provide a related, but alternative, formalism to those driven purely by descriptions of random dynamical systems, and take a further step towards a comprehensive statement of the physics of self-organisation in formal mathematical language.