Even godly people like David and Nathan can be confident, sincere, and still wrong about what God wants from them. In this sermon on 2 Samuel 7:1-7, we see that God doesn't need our service nearly as much as He delights in giving us His.
Behold, Your Son! Behold, Your Mother!
Because Jesus has risen from the dead, his mother Mary's heartbreak and grief at the crucifxion has been turned to in expressable joy. All her tears have been wiped away.