Jesus final instructions to his disciples were to go into all the world and preach (proclaim) the good news to everyone (Mark 16).
We can follow his instructions out of duty, obedience, or even the expectations of others.
Or we can be so enamored with Jesus, so taken up with him, that his heart for the world permeates our being. God so loved the world that he sent his son (John 3:16). God delights to answer the prayer, "Lord give us your heart for mission."