Being seen by God

I get kind of scared when I think about God always watching me, always seeing me even down to the depths of my heart and the hidden places inside me. I mean, He is good and holy and just, and there is so much in me that is bad, and so much in addition that is just weak and useless and cluttering. Sigh. I don't know why He would want to see down into those places! Doesn't it disgust Him, to see what lies inside my heart? Does He ever regret redeeming me and adopting me into His family, when the price was so high and I am so worthless even after all He has done for me and in me?

But look at how Nicholas of Cusa writes about it:
"... Thou never ceasest most lovingly to behold me, yea, even the secret places of my soul. With Thee, to behold is to give life; 'tis unceasingly to impart sweetest love of Thee; 'tis to inflame me to love of Thee by love's imparting, and to feed me by inflaming, and by feeding to kindle my yearnings, and by kindling to make me drink of the dew of gladness, and by drinking to infuse in me a fountain of life, and by infusing to make it increase and endure." - The Vision of God

How do I change my way of thinking so that it is more like his? How do I consistently cause myself to perceive God as loving, regarding me with care rather than in judgment? How do I find joy and gladness in the knowledge that He beholds me? Sometimes I do have that gladness in the assurance of His love, but other times I just get scared or afraid or feel like a failure, falling short of what He desires from me. So what distinguishes those two times? In the first, I am choosing to trust Him, to lean upon Him, to look on Him in faith; in the second, I don't trust Him, I want to be perfect in my own power, and I am focused on myself and my shortcomings rather than on Him in His glory and goodness. So I should spend more time in the first mindset, if I want to spend more time in that incredible joy which comes from feeling the presence and love of our Lord! Even when it is emotionally hard for me, I should do my best to cultivate faith and practice trust in the God whose love is far greater than I can comprehend.