So now, when we say God’s love is like a fire burning for all to see, it does so in an of itself (God displays his character in many ways apart from man's input), but in part he does so through us, as we bring Him to the world. When we sing songs like this in public, it is one way of publicly declaring his name to those who he has yet to bring into his family. The more his love consumes us, it can't help but be seen and touch the lives of the people around us.
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P.S. When we sing we want to worship at his feet, what helps is to remember that God is ALWAYS present, and every moment is an opportunity to worship at his feet through prayer, through activity, through service of others, or a host of other ways of inviting him into our daily activity.