R.A. Torrey's sermon 'Heroes and Cowards' emphasizes the dangers of the fear of man, illustrating how it leads individuals to compromise their values and ultimately face ruin. He shares poignant examples of young men and women who succumbed to peer pressure, resulting in destructive choices that cost them their integrity and lives. Torrey contrasts this with the courage of true believers, like the Apostle Paul, who boldly confess their faith despite societal pressures. He urges listeners to publicly declare their faith in Christ, highlighting that true courage is required to stand for Jesus in a compromising world. The sermon calls for a commitment to be heroes of faith rather than cowards who hide their beliefs.