The Lord taught Joseph Smith that we will have confidence in God's presence to the degree that we develop the twin attributes of charity and virtue. We develop charity through prayer, and we develop virtue by intentionally gravitating to uplifting thoughts. Time in the temple also helps us develop these Christlike attributes.
Admonished but Not Ashamed
The Lord instructed Joseph Smith and his associates to accept feedback graciously and humbly. He encouraged them to "be admonished" but not to be "ashamed." When our confidence rests on our trust in God rather than on our own abilities, we can accept and incorporate corrective feedback into our actions and character more quickly.