Don't judge is very post modern!! Must be interpreted in context with verse 6. Don't write off others because we know who we really are. We think of ourselves as pretty good until we meet Jesus. Our attitude should be if there is hope for me there is hope for others.
Dogs and pigs belong outside the camp. Some want to be outside the kingdom. Don't force Jesus on those who reject repeatedly. Don't try to save the world.
What do we ask for? God gives us only what is good. The Holy Spirit is the really good gift.