How do we know we are truly children of God?

The assurance of being called children of God comes from the profound love bestowed upon us by the Father as articulated in 1 John 3:1. This relationship is not only a matter of identity but also one of privilege, marked by our adoption into His family. This adoption is indicative of the intimate and personal nature of our relationship with God, which is sealed by the Holy Spirit as mentioned in Romans 8:15-16. Assurance also stems from the transformation in our lives as we reflect the character of Christ, which is affirmed by our aspiration for holiness and obedience to His commands.