Read the whole context of Matthew 10:5-42 and in context, you will discover that our taking up our own cross is to walk the same road that Jesus walked. The cross of self denial... The cross that became acquainted with grief and sorrow... The cross that brought a sword of division between parents and children; between siblings; between friends. The cross that meant hardship and self sacrifice. That brought persecution and bloodshed upon its bearers.
Amen to that part, than you die.
That is the cross we are called to bear. If we refuse it, Jesus said we are not worthy of Him.
If you are called to be His disciple, doesnt mean you wont be saved if you dont, That would make Jesus like man, offering you a free gift, than demanding you pay, after you accept it.
3 out of the 4 gospels declare that Jesus never carried His cross, all the way a man called called simon carried it for Him, for after all His punishment He was too weak to carry it, do you think Jesus would demand we carry our burdens on our own??
Mat_11:29 Take my yoke upon you, and learn of me; for I am meek and lowly in heart: and ye shall find rest unto your souls.
Mat_11:30 For my yoke is easy, and my burden is light.
Christ carried the burden so we would never have to, once you take up that cross, He is there to carry it for you. than you die as He did, and are raised up as I previously stated, into the newness of His life, than nothing is a burden.