Worshiping God out of Fear?

Satguru Kabeer ji says:
                    भय स्यों भक्ति करै सब कोय - निर्भय भजै नहीं कोय
                     Bhaya syon Bhakti Kare Sab  Koye
                     Nirbhey bhajai nahin koye

"Everyone worships God because of fear -  Fear of punishment, sufferings, death, and fear of the unknown.

No one worships or loves Him without fear."

Lord Krishna declares ‘Fearlessness’ as one of the main qualities of a Yogi or Brahm Gyani sage:

      "Prashaantaatmaa vigat-abheer brahmachaarivrate sthitah"
Serene-minded, Fearless, firm in Gyana - steadfast, committed and disciplined and Balanced in mind ......
                                   (Bhagavad Geeta ~ Chapter 6 - Shloka : 14)

The old Hindu scriptures are full of many such stories that, when God was pleased with the devotion of the sages & Bhaktas, gave them the boon of Abhaya Daan or 'Abheeh (to become free from fear).

The ultimate reward of devotion is Moksha, which means liberation - freedom - from all kinds of fear - including the fear of punishments, suffering, and death.

Similarly, Gurubani also says:
                             भय काहू को  देत नहीं, नहि भय मानत आन
                              कहु नानक सुन रे मना ज्ञानी ताहि बखान  (म: 9 )
"Bhaya kaahu ko dait nahin, nahi bhaya maanat Aan
  Kahu Nanak sun re manaa,  Gyani Tahi bakhaan"

"One who does not frighten anyone, nor is afraid of anyone (or anything)

Listen, O' mind, says Nanak, consider them Gyani - spiritually wise and enlightened."

                                             (9th Guru - Teg Bahadur ji)
And:
                "निरभउ भए सगल भय खोए गोबिंद चरण ओटाइ"
        Nirbhau bhaye Sagal Bhai Khoye Gobind charan otaai
                                                     (Mehla -5 Page 1000)

One who takes refuge in Almighty become fearless - all his fears disappear. 

There is no need to be afraid of God.
Devotion out of fear or greed is not a real devotion.

Rabinder Nath Tagore also said it beautifully:-

                          चित्त जेथा भयशून्य - उच्च जेथा शिर 

               Chitt jrthaa bhaya shoonya - uch jetha shir
            "Where the mind is without fear

       and the head is held high;

       Where the Gyana is 'Mukta' (Free of misconceptions and wrong beliefs) 

       Where the world has not been broken up into fragments by the domestic walls

       Where words come out from the depth of truth;

       Where tireless striving stretches its arms towards perfection and flow without any hindrance".
                                        by:  'Rabinder Nath Tagore'

Therefore:
                     ‘Nirbhaya hoye bhajahu Bhagvaana’ (Gurbani)
Worship the Lord fearlessly, 
With just love - 
Pure Love
                                   'Rajan Sachdeva'