Beloved, if our heart does not condemn us, we have confidence before God; and whatever we ask we receive from him, because we keep his commandments and do what pleases him. And this is his commandment, that we believe in the name of his Son Jesus Christ and love one another, just as he has commanded us. Whoever keeps his commandments abides in God, and God in him. And by this we know that he abides in us, by the Spirit whom he has given us.

1 John 3:21-24

The hymnal in the churches I grew up in included the song “Blessed Assurance” (Song #44 for those who know), written by Fanny Crosby.

Blessed assurance, Jesus is mine  
Oh, what a foretaste of glory divine  
Heir of salvation, purchase of God  
I'm born of His spirit and washed in His blood 

That first verse echoes the sentiment in the verses above. Again and again, we read in John that following the great commandment of loving God and loving others is the consequence of our belief in Jesus. And notice that John mentions the entire Trinity in this passage.

We shouldn’t live in condemnation at all, but assurance when we abide in Christ. Consider again the words of Paul –

There is therefore now no condemnation for those who are in Christ Jesus. For the law of the Spirit of life has set you free in Christ Jesus from the law of sin and death. For God has done what the law, weakened by the flesh, could not do. By sending his own Son in the likeness of sinful flesh and for sin, he condemned sin in the flesh, in order that the righteous requirement of the law might be fulfilled in us, who walk not according to the flesh but according to the Spirit.

Romans 8:1-4