God's objective standards as revealed in the Scriptures are our standard of behavior. Jesus was warning us of a self-righteous attitude that could develop from pride and a hypocritical spirit. Finally, we should acknowledge that Jesus judged people's actions all the time, yet He never sinned. He offered moral opinions wherever He went. Judging is not wrong, but we should be careful to do it humbly and from a biblical perspective.
All guilt is bad.
Finally, I would like to look at the myth that all guilt is bad. Now it is true that worry is probably a useless emotion, but it is another story with guilt. In either case, it is stupid, and more important, useless behavior. And while that is often true, he paints with too large of a brush. Some guilt can be helpful and productive.