The most critical aspect of fear of G-d is a fear of His exalted state; of who He is. This requires us to realize that when we communicate with G-d it is not a one way conversation, it's a two-way interaction. Then we need to realize that whatever we understand about existence in regards to our own existence does not apply to G-d. Once we begin to understand who G-d really is then we will begin to perform mitzvos in the most beautiful way, with all the extra trimmings; because after all, isn't that how you would behave if you were going to a human king?