Is eternal torment essential as a motivator for mission and evangelism?

From Rick: Robin, thanks so much for taking our questions. I've found myself leaning toward the Universalism camp more and more, but sometimes I feel paralyzed by the fear of the consequences if I'm wrong. Not that I'm afraid I'll go to Hell, but I'm afraid what it would mean to learn that I should have been working harder to keep my family and friends out of Hell (which is the fear often put on people to go out and evangelize, even in embarrassing and disrespectful ways). I was wondering if you have any advice for putting this fear to rest? Also, how do Universalists view evangelism, and what should evangelism entail right now, considering the world's total future reconciliation with God?