Jesus said to his disciples, “If you abide in my word, you are truly my disciples, and you will know the truth, and the truth will set you free.” The freedom Jesus is talking about is the slavery to sin. We’re blessed to have access to God through the work of Christ, rather than relying on cities of refuge for a limited form of mercy.
By listening to and following Jesus’ words, we have guidance on the way to live as children of God, in a relationship of love instead of slavery, walking in light rather than darkness. It’s up to us to hear and receive the words of God, since doing so identifies us as being of God.