Theodore Epp discusses the significance of accepting God's 'no' in our lives, as exemplified by David's desire to build a temple. Although God denied David's request, He appreciated David's heart and intentions, leading to a covenant that established David's lineage forever. Epp emphasizes that God's decisions are rooted in His perfect wisdom and that His promises, such as His eternal presence with us, remain steadfast. The sermon encourages believers to trust in God's plans, even when they differ from our desires.