People nowadays are used to the idea of casually entering God’s presence whenever the mood strikes them. Many treat Him as something of an invisible buddy, who is waiting to respond whenever we need Him or want something from Him.
The people of Israel were given a radically different view of His presence. They had seen His powerful acts of deliverance, but they had never really known Him. Now, entering into covenant with Him, they needed to know what this God was like. And what they saw was that He is greater, more powerful, and more searingly holy than anyone could conceive.
God does pursue an intimate relationship with us, but we must never forget that He is Lord. We serve and worship Him at His pleasure, not ours