Read Hebrews 10:19-25
God has always wanted us with Him, close to Him, in His presence. In the olden days (old testament) He made the ritual of the high priest entering the Holy of Holies only maybe after intense steps and careful effort. This was to make a point -- to show how special, how valuable, how worthy His presence is and how unworthy we are in a fallen state (because of sin). It shows that aside from Him, our own righteousness is like filthy rags.
At the same time, however, it shows how that unworthiness was not our original state, and not where God chooses to have us stay. We were made in His image and in His likeness, with righteousness. We are valuable to Him, beyond any other created being. This is shown in the painstaking feat that Christ was willing to endure all for the purpose of restoring us to a righteous, close and personal state with our Father, the One who made us and intended us for His purpose and presence. He makes us righteous, just, clean, great and worthy. He restores us to that original worth and value -- through Christ.
The verses also say we CAN now boldly enter the Holy place in His presence. We no longer have to go through a ritual or have someone else go to God on our behalf because of the Ultimate Sacrifice - Christ. After all of that work Christ endured to restore us, He does not force us, but invites and makes available to us His love, help and presence. He loves and values us and wouldn't trade us for anything else in Heaven or on earth.