Rulers are a threat to evil people, not to good people. There is no need to be afraid of the authorities. Just do right, and they will praise you for it.
After all, they are God's servants, and it is their duty to help you. If you do something wrong, you ought to be afraid, because these rulers have the right to punish you. They are God's servants who punish criminals to show how angry God is.
Suppose you and someone else each accuse the other of doing something wrong, and you go to court, where the judges decide you are guilty. If your punishment is to be beaten with a whip, one of the judges will order you to lie down, and you will receive the number of lashes you deserve.