When I was little, I loved to startle other kids. I liked to see fear in their eyes and then the relief or annoyance that everything was okay. I did not like to bully kids and make them fear me, but to see a look of surprise.
Unlike me as a child, God has no desire to cause fear in people. He takes no pleasure in that. It is distasteful to Him. He has not given us a spirit of fear, but of power, of love and a sound mind. Fear is something of the devil, something that sin brought about. If you look in Genesis, the first instance of fear was right after Adam and Eve sinned. They were afraid, so they hid from God.
Genesis 3:10
He answered, “I heard you in the garden, and I was afraid because I was naked; so I hid.”
It was not his being naked that caused Adam to be afraid. He had been naked since he was created. It was sin that ushered fear into his life, and the lives of us all. God’s end plan, partially revealed in Isaiah 11, speaks about God having a place for us where there is no fear.
Isaiah 11:6
The wolf will live with the lamb, the leopard will lie down with the goat, the calf and the lion and the yearling together; and a little child will lead them.
It also talks about a lion lying down with a lamb an other domestic animals and makes the point that there will not be any destroying or harming on His holy mountain. God’s ultimate desire it to bring us to a place of no fear, in heaven there will be nothing to make us afraid.
The word for naked in Gen 2 means simply naked. A related but different word is used in Gen 3 and involves the idea of being exposed.