The only way to get darshan of Bhagavan is to know him as yourself. All feelings of infinitude, pain, insecurity, self criticism has to be resolved through the study of Vedanta and here in the form of Sri Rudram, it is the best way to resolve it. As one moves on, an understanding dawns that without Bhakti there is no mukti. Everything is directed to the alter of Surrender.
Mantra 3 and 4 of the 10th Anuvaka, gives time bound happiness from sense objects as well as timeless happiness or Moksha.