When we store God's commands in our hearts, we will have true success. No more blameworthy feelings over failing to meet the man-made doctrines that get thrown around. No more speculating if you love God with all your heart, soul, mind and strength. You must believe, wholeheartedly, that we have the guarantee that Jesus will manifest Himself to us, abide with us, and give us the Holy Spirit to steer us into all truth.
Of course, there is not an automatically process to true success. Jesus says the road that leads to life is narrow and difficult, not a cradle of roses. But when Christians faithfully keep His commands, they will be worthy to stand before God on Judgment Day and hear, "Well done, thou good and faithful servant."