There is no fear in love. But perfect love drives out fear, because fear has to do with punishment. The one who fears is not made perfect in love. 1 John 4:18 

While I approach God with reverence and awe because he is the holy and majestic God, I don’t have to fear his presence. Because of Jesus and the Holy Spirit, I know God is my Abba Father. He longs for me to draw near him. He has shown me his heart by sending Jesus. He has shown me his love by having Jesus die for me. If he loves me that much, then I can trust that his desire is to save and bless me. I don’t have to fear his presence or his judgment as I continue to serve him. As his child, his love should drive fear from my heart and replace it with love from his abiding presence, the Holy Spirit.