They mean exactly what they state. Actually, no human has ever seen God (the Father) face to face. Jesus was God in human form and obviously, thousands have seen Him during His 3 1/2 year ministry on earth. Jacob was referring to an angelic being since God the Father never came to the earth. God used Angels [messengers] to speak His will. God is composed of spirit and cannot be seen with human eyes. The term "fear" means a healthy respect - not in trepidation. "Perfect[ed] love, casts out all fear". You need to understand background before jumping to conclusions, as you have obviously done here.
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