Zac Poonen emphasizes that preaching should not induce guilt or condemnation but rather encourage and uplift believers. He highlights that God sent His Son not to condemn but to save, and that true ministry should reflect this spirit of encouragement. Poonen warns against the common practice of guilt-trip preaching, which can lead to discouragement and spiritual bondage, and stresses the importance of distinguishing between the conviction of the Holy Spirit and the condemnation of the law. He calls for preachers to adopt a fatherly approach, fostering a supportive environment rather than one of shame and unrealistic expectations. Ultimately, Poonen urges a return to the grace and truth exemplified by Jesus, promoting a ministry that leads to freedom and joy in serving God.