People's motives in serving Christ vary from pure to sinful. However, other men’s motives should not rob us of the joy of Jesus Christ being preached.
There are two categories of sin: sins against God and sins against man. By default, every sin is against God. Yet, not all sin is against man.
It was said that Peter’s death would “glorify God.” Obviously, it is not only necessary to glorify God in one’s life but also possible to glorify God in death.