I have treasured your word in my heart so that I may not sin against you.
Psalm 119:11 (CSB)

Our deepest wish is that we do not offend God. He is our greatest joy and he gave his Son to pay for our sin. Others who don’t yet know Christ and what he has done for us are worried about offending only other people. This preoccupation with avoiding an act that would offend other people doesn't go far enough because it leaves God and the reality of sin out of the picture. 

By treasuring the word of God, knowing it and prizing it, we are filling our hearts and souls with it. As a result, our steps will not falter. Psalm 37:31  “The instruction of his God is in his heart; his steps do not falter.” When we are inwardly strengthened by God’s word and have it ready at the call, our deeds are more likely to serve Him and not a sinful world.

Ultimately, we can not avoid offending God on our own. Jesus Christ, the Word made flesh, took on himself the offenses against God that we have committed. We treasure the Word made flesh in our hearts for it is in him alone that we find freedom from the sin that offends God.