If my wife is afraid of me how can she enjoy my presence? She can't. She will avoid being in my presence and try to communicate with me from a distance. This is how we are with God.
We are afraid of God. We are afraid if we make a mistake He will punish us. We are afraid He will condemn us. We are so afraid of God, that we don't get close enough to Him to know His true character. When God speaks to us, He does not condemn but reassures us by saying "Fear not". You don't have to be afraid. These two words "fear not" decreases the fear in us and increases our faith in Him. Allowing us to draw close to Him.
God does not want us afraid of Him or our circumstances. He does not want us to be scared of the obstacles that stand in our way, we can take rest in His Word to "fear not" and God will give us victory over our circumstances. God is not a tyrant. He is a loving Father that wants the best for His children. Fear Not.