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Jesus reaches out are those "unimpressive" people that have open hearts for the Gospel. These are the people who might have less sophisticated faith. They're not academics or learned, possibly. But the kingdom has been revealed to them. And, thus, Jesus extends and invitation to them to receive their rest. Let us also recognize that the context bears out that Jesus is contrasting these spiritual babies with those who rejected the Gospel. Thus, this invitation is no social gospel meant to merely heal the emotional and social wounds of Jesus' hearers. This was an invitation for those who have entered the kingdom - those who have open hearts to the secrets of the Gospel.