Bold and wilful, they are not afraid to revile the glorious ones, whereas angels, though greater in might and power, do not pronounce a reviling judgment upon them before the Lord. But these, like irrational animals, creatures of instinct, born to be caught and killed, reviling in matters of which they are ignorant, will be destroyed in the same destruction with them, suffering wrong for their wrongdoing. They count it pleasure to revel in the daytime. They are blots and blemishes, reveling in their dissipation, carousing with you. They have eyes full of adultery, insatiable for sin. They entice unsteady souls. They have hearts trained in greed. Accursed children! Forsaking the right way they have gone astray; they have followed the way of Balaam, the son of Beor, who loved gain from wrongdoing, but was rebuked for his own transgression; a dumb ass spoke with human voice and restrained the prophet's madness. 2 Peter 2:10–16 (RSV)
Saint Anselm (1033-1109) was a Benedictine monk, Christian philosopher, and scholar who is recognized for many intellectual accomplishments, including his application of reason in exploring the mysteries of faith and for his definition of theology as "faith seeking understanding."
St. Anselm's most familiar writing is entitled "Cur Deus Homo", "Why God Became Man." The answer lies in the words of St. Peter you have already read. St. Peter states why Jesus has come. God became man because we could not rise to the divine.
St. Peter was writing about those seeking to harm the young Church, but he could have been writing about any one of us apart from Christ. The heart of any human will seek after the things of which St. Peter wrote. Jesus, as He taught on the Sermon on the Mount, would have us look to our hearts with honest eyes. We will see all these things and more.
Why else would Luther teach us that we are to die to ourselves each day so Christ might raise us a new creation? Luther was faithfully speaking the words of our Lord, that we should take up our cross daily, die to ourselves, and follow after Him. Jesus became human to defeat sin, death, and the devil so they might not ensnare us.
We are to speak the truth in love to all those who rely on themselves as if they were God. Our Lord has given us new life in Him that we may witness to all those who are still lost in their folly. God became human to redeem us and cause us to stand firmly on the Gospel. We are made new, so we might proclaim the One who has saved us.