In Whom, because of our faith in Him, we dare to have the boldness (courage and confidence) of free access (an unreserved approach to God with freedom and without fear). Ephesians 3:12 (AMPC)
Through Faith in Christ and what He has done for us on the Cross we have free access to God. This means a no strings attached intimate relationship and fellowship with God. We can freely openly boldly talk to God and in the same way hear Him talk to us. He is our close friend, our acquaintance, our trusted confidant. There’s no fear here, no sense of inferiority or unworthiness. No performance required on our part but we are unconditionally accepted.
