It sounds like you might appreciate Predicate Calculus and Program Semantics[1] which is a rigorous formal treatment of the subject. Dijkstra's earlier work, A Discipline of Programming[2] lacks mathematical rigor, but is still quite pragmatic and is arguably a much gentler introduction to the subject. It also focuses more on real-world use cases.

Like most of his work, the general theme is "how can we avoid making a mess of things unnecessarily?" Avoiding needless complexity is clearly the programmer's greatest challenge.

[1] https://www.goodreads.com/book/show/3144463-predicate-calcul...

[2] https://www.goodreads.com/book/show/2276288.A_Discipline_of_...