In Pastor Kasey Robinson's message, he emphasizes the importance of being a disciple who makes disciples, inspired by the rhythms of mission and disciple-making taught by Jesus. He encourages believers to listen to people's experiences, hurts, and hopes, building trust and engaging in relationships to share the gospel. The teaching underscores that through prayer and the Holy Spirit's guidance, Christians can fulfill God's mission of spreading His glory and blessings across the world - starting in our own neighborhoods.