He desires for us to draw near to Him and will 'clean up our act' as we go, naturally. The old will fall away and so we never have to feel as though we are not good enough. He just desires to have a friendship of love with us and desires that we love ourselves and do not feel ashamed.
This is one of the hardest concepts for us to grasp as humans, but the most beautiful acceptance and demonstration of grace, that God (Source) loves us, the Divine is pleased with us, and whatever needs to be shaped and transformed or refined within, will be accomplished.
So therefore, we can relax in His presence because it is the safest place to be. He knows it already and is not concerned. He says, "Be still."