Only a great act of love can take away our fear. Jesus, God in the flesh, died in my place. Jesus knew fear like you and I will never know. Yet despite his fear, he accomplished all the Father sent him to do. He did the ultimate act of love so that our fear could be taken away.
Perfect love drives out all fear.
God's perfect love drives our fear away, and gives us confidence to approach him as his forgiven and dearly loved children. If we experience that love from God, then we will relate to each other on the same basis. If we act towards one another as a community of forgiven sinners who love one another despite all our failures, then, and only then, will real encouragement take place. Only then will we feel confident to be more honest with other, and to take off our masks. Now, as we will see in two weeks time, when Ken preaches on openness versus commitment, that doesn't mean just airing all our dirty washing in public.