In the fullness of time, God came to his people not upon a mountain but in the person of Jesus Christ. Fully God yet fully man, he became the sinless sacrifice upon the altar of the cross. He is not offered up repeatedly like sheep or oxen but was sacrificed once for all for the sins of his people. Therefore, it is through the sacrifice of Christ, and only through him, that we rightly worship God as his people.
Moses trusted in God as He had revealed Himself, serving as a temporary prophet and mediator but awaiting the reward of his eternal Prophet, Priest, and King.