Your honesty before God is not in question. By all means, be open with the Lord. You can confess areas that you are struggling with. Nothing here said otherwise. You should be open with the Lord and desire to be victorious in areas that you are weak. The point, however, is that your confession does not grant forgiveness. You already have it in Jesus Christ. That is precisely why you can be open with your Heavenly Father about your shortcomings.
Your fellowship is not restored when you confess your sins, for your fellowship never departed. You are the temple of the Holy Spirit, where is He going to go? He will never forsake you. You, in your sin, may have distanced yourself from the Lord, but the Lord didn't step back. It was you, as with Adam and Eve, who hid. You can have confidence towards God, and in knowing of the forgiveness you have in Jesus, you can be completely open with the Lord.
You say your conscience condemns you and then you confess, but the relief is in thinking that the confession has made you right with God. You get to that state after confessing, where as a person who grasps God's grace by revelation of the Holy Spirit is already in that state (or mindset). They don't feel the need to confess to have peace of mind because they already walk in that mindset of no condemnation and forgiveness.
Hope that clarifies it a little for you.