David Wilkerson explores the profound relationship between Jesus and His followers, emphasizing that while we find joy in serving the Lord, we often overlook His desire to minister to us in return. He highlights the importance of allowing Jesus to share in our lives and communicate with us, as seen in the story of the two disciples on the road to Emmaus. Wilkerson suggests that Jesus experiences joy and fulfillment when He engages in personal communion with us, revealing His longing for connection. The sermon encourages believers to recognize that their relationship with Christ is reciprocal, where both serve and are served. Ultimately, it calls for a deeper understanding of Jesus' heart and His need for intimate fellowship with His people.