This is where I don't read the bible literaly. I don't believe that any meaningful love can be based on fear, nor do I believe that the most wise being in the universe would want EVERYONE on earth to fear him.
I totally agree with you that, it seems to me illogical for anyone with a measure of self-worth (that, I think, is given by God) would want to be a simpering weakling before God; nor do I think that is what God requires, or desires. Here is what Jesus said:
John 15: 9-17
"As the Father has loved me, so have I loved you. Now remain in my love. If you obey my commands, you will remain in my love, just as I have obeyed my Father's commands and remain in his love. I have told you this so that my joy may be in you and that your joy may be complete. My command is this: Love each other as I have loved you. Greater love has no one than this, that he lay down his life for his friends. You are my friends if you do what I command. I no longer call you servants, because a servant does not know his master's business. Instead, I have called you friends, for everything that I learned from my Father I have made known to you. You did not choose me, but I chose you and appointed you to go and bear fruit—fruit that will last. Then the Father will give you whatever you ask in my name. This is my command: Love each other.
To me, this indicates pretty darn clearly that what Jesus (and therefore, through Jesus' obedience, God the Father) wants from/with us is a relationship - a sort of mutuality that is, of course, a mystery, as it cannot look like a human-human friendship (since God is perfect and we are not). But, God fills up our imperfections with God's grace. And I, for one, am in AWE of that - for me fear means awe, not dread and horror as it may seem others suggest.
Some other verses on God's approachability, and the CONFIDENCE with with we can approach:
The wicked man flees though no one pursues,
but the righteous are as bold as a lion.
In him and through faith in him we may approach God with freedom and confidence.
Let us then approach the throne of grace with confidence, so that we may receive mercy and find grace to help us in our time of need.
Therefore, brothers, since we have confidence to enter the Most Holy Place by the blood of Jesus,
So we say with confidence,
"The Lord is my helper; I will not be afraid.
What can man do to me?"