Being confident that by entering into an authentic relationship with Jesus we are forgiven, justified and reconciled to Him eternally - we can draw near to Him as Adam and Eve did in the garden, as the 12 disciples did so regularly with Jesus.
'Sprinkled' is the language of the O.T. sacrifice, where blood would be sprinkled on items to cleanse them. To be washed with pure water is to wipe away all impurity. We don't have to feel guilty all the time once we're forgiven.
We actually can draw near to the One who's blood was sacrificed on our behalf.