We always hear about fear of Allah, that is most deserving. It is the fear that will stop us committing haram, the fear that you know Allah is watching every move we make. The fear when you are on the road and there is a speed camera you will get caught. This is the fear that should be in the heart of a believer. If you are driving at night and no one is on the road would you still speed or cross the red traffic light? No. As you know in your heart something is watching you. Allah is watching every move we make. The same fear we should try to bring into our hearts. 

Our Prophet (pbuh) was free from sin and Allah has already guaranteed him the highest level in jannah. Allah has forgiven his past and future yet he made taubah to Allah 70 times a day!