God's original plan was to live in a relationship with us in a way that we knew Him as a close friend and understood His character. When you know someone's character, you know how they will react in a situation and you can trust them. When you don't know someone in this way their actions can seem unpredictable and uncertain. Too many Christians still have this kind of relationship with God and this leads to fear and mistrust.
His plan is still the same and you, as his child, have the freedom to know Him in the same way that He originally intended at creation.