Together we are welcomed to be real in worship. The language of our text is that we can approach with true hearts. True hearts are a matter of feeling and will. A true heart before God is made possible, not by human perfection, but by trusting in the God we've come to know in Jesus Christ, whom the author calls our great high priest. And that means that we can have a clean conscience.
Nothing needs to be hidden.
As a forgiven child of God, I do not need to hide my imperfections. Instead I can hold them out to the light of God's love and my shortcomings can be exposed to the forgiveness of Christ. The opposite of isolation is the impact of worship. We lift our hands to our unwavering hope. Our hope is not in pretense but in sincerity of soul.