This hope we have as an anchor of the soul, a hope both sure and steadfast and one which enters within the veil, where Jesus has entered as a forerunner for us, having become a high priest forever according to the order of Melchizedek.
--Hebrews 6:19--20 (NASB)
Therefore, brethren, since we have confidence to enter the holy place by the blood of Jesus, by a new and living way which He inaugurated for us through the veil, that is, His flesh, and since we have a great priest over the house of God, let us draw near with a sincere heart in full assurance of faith, having our hearts sprinkled clean from an evil conscience and our bodies washed with pure water.
--Hebrews 10:19--22 (NASB)
I can't see that the apprehension of having the Son of God as our High Priest would be anything other than confidence. I admit that we often come cringing into God's presence, but that's not the affect the truth ought to have on us. If we really grasp the idea that the Son of God has come here to seek and save the lost, has died for us, and has gone back to Heaven to represent us there; then the logical outcome would be for us to approach God confidently.
Not that we approach Him flippantly---confidence and flippancy are not the same thing at all. But if we believe the Word of God, we must conclude that God wants us there.
Protestants seem to err in one direction or the other. More formal churches are so intent to emphasize our worthlessness, that they deprive the believer of confidence in God. Far from being the One who sent His own Son to die for us, God becomes an aloof and cold judge. The operational word in "Woe is me!" is pretty much "me." In the other direction, you have modern "evangelicals" who seem to think God is some sort of supernatural buddy in the sky.
The main idea we need to get is, we are not confident in what we are to God. That is, we do not approach in the confidence that we are precious to God. We are, but that's not the confidence we need to approach Him. We approach God, confident that the Son of God has made a way for us to go in: His flesh has been torn, His blood poured out; and we approach confident that God is pleased with what Christ has done for us.
We're not confident in our ability to get there, or even in our right to be there. We're confident that the Son who invites us is over the house of God. He has taken care of everything, and is welcoming us in.
It's not remarkable that the Son of God would go back to Heaven. He has every right to be there. What's remarkable is that He went back there to represent us. He went back for us, which ought to give us pause.
It's tempting to try and approach God as an equal: or at least to try and approach Him based on what we are. When we have a good day, we are much more confident to approach God than after we've just fallen into sin for the umpteenth time. But that's because we're looking in the wrong place. We're looking at ourselves, and measuring ourselves against what we see God to be.
God's not looking at us, He's looking at the One who died for us, The One inviting us to come in.