Preaching the gospel of our Lord and Saviour Jesus Christ becomes easy when you understand that it's the best thing that has ever happened to the human race. So you share it without shame.
The verse shows us that Christ himself is not ashamed to call us brethren before God the Father. If Christ is not ashamed to call us his own, how can we be ashamed to share his love with mere humans?
Therefore, we preach with confidence because he first loved us. We share this gospel with everyone because he ransomed them.
Hallelujah. Amen