Hebrews 10:1,2

People whose consciences have been cleansed don’t feel guilty anymore, and have no further need of sacrifices.

Guilt is a weapon used to try and keep us in the past.  The blood of Jesus took our sins and washed us clean, so we can move forward and learn from God.  God doesn’t want us looking back on the old self and ways but moving forward in righteousness.  If we sin and confess the sin and not repeat it, our consciences have been washed clean.