In current English language usage, there’s often a distinction made between “servile fear” which is the actual fear of punishment or of some negative consequence happening to you, and “filial fear” or “holy fear” which is supposed to be the love and respect and piety for the Lord, etc. I personally don’t think the “fear” word works well even when it’s supposed to be filial fear. It doesn’t help that the colloquial expression “put the fear of God into you” generally means “scare you so bad or punish you so hard that you’ll change your behavior/ stop doing something”.
The last few decades have seen an emphasis on God’s mercy and on him being a loving father with whom we have a relationship, so using the word “fear” Is naturally at odds with most people’s idea of a loving parental relationship, especially for an adult. I find it more helpful just to use words like we should love God, respect God, show piety, be reverent, be in awe of God and his works, etc.