Peter wasn't adverse to getting his feet washed, it was by whom he had the problem with. No one will be rejected for not accepting love, His love will be shown to them and His love is irresistible.
Philippians 2:7, rather, he made himself nothing by taking the very nature of a servant, being made in human likeness.
In ancient times there were no paved roads, they wore sandals and feet got dirty so before entering a home, someone would wash their feet for them, most likely a servant.
Luke 7:44, Then he turned toward the woman and said to Simon, “Do you see this woman? I came into your house. You did not give me any water for my feet, but she wet my feet with her tears and wiped them with her hair.
Jesus told her she was saved by her faith, not her works, Luke 7:50, Jesus said to the woman, “Your faith has saved you; go in peace.”
I once struggled to accept love, showing love was easier and it was much easier for me to give than to receive. The Holy Spirit, in stages, showed me how to receive love and to ask God for whatever my heart desired. He desires to serve me, is that too controversial? I am not a servant, I am a daughter, accepted and loved.
Mark 11:24, Therefore I tell you, whatever you ask for in prayer, believe that you have received it, and it will be yours.
1 John 3:1, See what great love the Father has lavished on us, that we should be called children of God! And that is what we are! The reason the world does not know us is that it did not know him.