Jesus called Matthew to follow him and there was no judgement, Jesus knew exactly who he was but he still called him to follow him. Sometimes all people are waiting for is an invitation. Jesus felt so comfortable with himself which allowed him to talk to anyone.
Jesus is calling us without any qualifications because it is not necessary. The call to follow Jesus is issued to everyone.
The Pharisees mindset was for you to change and then come and follow them. While Jesus mindset was to come and follow him then change. When we respond to Jesus calling with sincerity God answers right away.
Try to follow Jesus for a couple of weeks and see how it goes.