"Fear of the Lord is the beginning of knowledge" so says Solomon in Prov 1; fear being respect and humility for God's ultimate authority and great power. I understand this. But it wasn't until I stopped living in fear of Him and started seeing Him as Abba/Father/Daddy that I started becoming comfortable in His presence (BTW, this is still a work in progress).
Yes, He is the King of Kings and Lord of Lords and I approach Him as I might the Queen of England - head bowed, small, shy curtsy - but sometimes I just want to run up to Him, climb in to His lap, and be shielded in His strong, giant arms. Where is the fear of the Lord in that?