I am trying too to understand how this works, and I think the following argument from Mandl and Shaw "Quantum field theory" could help you, even if it probably won't answer completely your qestion as I find it still an open problem for myself. Anyway at least in the case of electromagnetism it worked well for me as there is a classical theory to wich you can refer unlike with strong or weak interactions.
The following argument is presented in Maggiore's book at page 70, and it starts from the recquirement of local phase simmetry and leads to the interaction. Instead in Mandl and Shaw's book the argument is exactly the opposite, it starts from introducing the interaction with the minimal substition like in the classical theory. (any error that is following is obviously mine and not of the authors of the books)
The Dirac lagrangian is invariant under a global phase trasnformation as we have
$$L_0=\bar{\psi}(i\hbar\gamma^{\mu}\partial_{\mu}-mc)\psi$$
and the fields transform in the folllowing way
$$\psi \rightarrow e^{i\theta}\psi$$
$$\bar{\psi} \rightarrow e^{-i\theta}\bar{\psi}$$
so you have a global simmetry such as the moltiplication for a global phase, and ask your self what if I want to promote this to a local simmetry? i.e. a simmetry under
$$\psi \rightarrow e^{i\theta(x)}\psi$$
$$\bar{\psi} \rightarrow e^{-i\theta(x)}\bar{\psi}$$
This is not anymore a simmetry as the derivative acts in a non trivial way on the local phase, so you can ask yourself, how can I extend the derivative to be covariant under local phase transformations of the fields? In other words, we look for a derivative $D_ {\mu}$ such that transofrms in this way
$$D_{\mu}\psi \rightarrow e^{i\theta(x)}D_{\mu}\psi$$
so that the moltiplication by a local phase is indeed a simmetry of the lagrangian. In this way it is enough to substitute the ordinary partial derivative with the covariant one whenever it occurs. In the end in this case the lagrangian will be the following
$$L=\bar{\psi}(i\hbar\gamma^{\mu}D_{\mu}-mc)\psi$$
$$D_{\mu}=\partial_{\mu} + \frac{iq}{\hbar c}A_{\mu}$$
you then see that this recquirment leads to the presence of the interaction term $L=L_0+L_I$
$$L_0=\bar{\psi}(i\hbar\gamma^{\mu}\partial_{\mu}-mc)\psi$$
$$L_I=-\frac{q}{c}\bar{\psi}\gamma^{\mu}\psi A_{\mu}$$
that coulps the Dirac field current with the electromagnetic field.
So the recquirement of the local phase invariance it seems to turn on the interaction.
In their book Mandl and Shaw follow the oopsite direction. Once you have done the free Dirac theory, you are interested in introducing the interactions and that can be done with a minimal subsitution generalised to a four vector field $A_{\mu}$, with the introduction of the covariant derivative above
$$D_{\mu}=\partial_{\mu} + \frac{iq}{\hbar c}A_{\mu}$$
once you do that and get the lagrangian $L=L_0+L_I$ it is possible to show that this is not invariant under gauge transformations
$$A_{\mu} \rightarrow A_{\mu} + \partial_{\mu}\theta(x)$$ as you get
$$L \rightarrow L' = L + \frac{q}{c}\bar{\psi}\gamma^{\mu}\psi\partial_{\mu}\theta(x)$$
this is a problem as you want that the theory is invariant under gauge transformations, because these represents redundancies of your description of the system that we accept in order to have a manifestely lorentz covariant theory. But the phsyical degrees of freedom must be always the same, we should have the possibility of explicit the system only in terms of these ones (such as in the radiation gauge). So in order to obtain again a gauge invariant lagrangian theory we can assume that the fields transform in the following way under gauge trasformations
$$\psi \rightarrow e^{i\frac{q}{\hbar c}\theta(x)}\psi$$
$$\bar{\psi} \rightarrow e^{-i\frac{q}{\hbar c}\theta(x)}\bar{\psi}$$
and with both these and the $A_{\mu}$ transformation laws you find a gauge invariant lagrangian as the single terms transforms in this way
$$L_0 \rightarrow L_0'=L_0 -\frac{q}{c}\bar{\psi}\gamma^{\mu}\psi\partial_{\mu}\theta(x)$$
$$L_I \rightarrow L_I'=L_I +\frac{q}{c}\bar{\psi}\gamma^{\mu}\psi\partial_{\mu}\theta(x)$$
and so the total lagrangian is invariant. I think in this way is easier to see the reason for "promoting" the global phase simmetry to a local one, but this argument works only in this case as you have a classical theory to which you can refer wehre you know how to introduce the interaction, and that is not the case for other theories such as QCD. For the other interactions I can't give a real answer as I am still trying to get it, but I hope this has helped you a little bit at least in the U(1) case.
Edit:
I have finally found a question that I read times ago which could be useful to you. Here in the accepted answer it is showed another aspect about the importance of gauge fields and how the recquirement of the invariance under local transformations enable us to couple fields with conserved currents. I hope it can help.