"There is no fear in love, but perfect love casts out fear. For fear has to do with punishment, and whoever fears has not been perfected in love." - 1 John 4:18 ESV
The word 'perfected' is our finished work word teleioo (Strong's G5048) which speaks or being brought to maturity or ripeness. Fear holds us back. Fear means we are held back from a full understanding. Fear has nothing to do with, 'It is finished!'. It is related to punishment.
Punishment links us to the past. It holds us in our past actions.
Fear is the Devil's parenting style. Love is God's parenting style. One brings a child to maturity and the other keeps a child immature and in bondage as long as possible.
"You are of your father the devil, and your will is to do your father's desires. He was a murderer from the beginning, and does not stand in the truth, because there is no truth in him. When he lies, he speaks out of his own character, for he is a liar and the father of lies." - John 8:44 ESV
And he must lie to keep his power base. No one can finish the race. No one can become ripe or mature because if they do then they become a competitor to the ego of the accuser. They might become top dog... that can never happen.
Love has nothing to do with punishment. Perfect love rejects fear as a motivator. It not only refuses to use it as a tactic it publicly has it removed from the room in front of the one it loves.
"Let us then with confidence draw near to the throne of grace, that we may receive mercy and find grace to help in time of need." - Hebrews 4:16 ESV
"The seventy-two returned with joy, saying, 'Lord, even the demons are subject to us in your name!' And he said to them, 'I saw Satan fall like lightning from heaven. Behold, I have given you authority to tread on serpents and scorpions, and over all the power of the enemy, and nothing shall hurt you.' " - Luke 10:17-19 ESV
We who believe are welcome before God's throne. Our past is gone but fear is not welcome. Fear was thrown down like lightning from Heaven.
Know Jesus. No Fear.
What about our presence? Is fear welcome? Is it a tool to be used to bring others to maturity or is it ushered out the door?
Love says, 'You will grow strong and tall and I want that for you. Be who you are before God with your head held high. Don't say you haven't failed but don't let that failure keep you in bondage.'
"And when Abram was ninety years old and nine, the LORD appeared to Abram, and said unto him, I am the Almighty God; walk before me, and be thou perfect." - Genesis 17:1 KJV
Yes. Walking before God is what will perfect us. Love has brought us into perfection and will produce maturity in us.