I agree that it is better not to judge.
What we must learn is to give and receive godly counsel. Sometimes, it isn't God speaking but rather fear, jealousy, spite, or some other emotion. If we could truly be sensitive to Holy Spirit and are sure to counsel in love, then it would all be well, I daresay.
As I mentioned in a couple of other posts, if during the course of counseling, you cannot bring yourself to edify/encourage the person in their walk with God and pray for them and with them, you are not the one to counsel them. If you still want to speak to them regarding their sin and not do those things, then you are confronting them, which I guess is okay when dealing with sin, but I don't think the results will be quite as positive.
Whenever God corrects me, I never feel condemned or unloved. He has an amazing way about Him.
We should be like Christ and be able to deal with sinful things in the lives of ourselves and others without driving people away. The relationship He had with His disciples made it possible for Him to tell them things like, "Get behind me, satan!" and the like and still have them follow Him, love Him and seek Him.