You are correct in saying, 'we need...'
It is through sharing our faith that we learn to love and walk as Jesus walked.
Many wonder why their relationship with God is not where it ought to be; it is because they are not where they should be in Christ. That is, they really aren't walking with Jesus.
Jesus reaches out to the lost, and if we really want to be with Him we will do the same. We don't always have to give a sermon or take them through a Bible study to do this either; we can reach out to the lost simply by showing them what the love of Jesus looks like.
Yes, 'we need' this...