The eighth verse begins by asking for the company of people whose devotion is sincere and undivided. It then turns to truthfulness and conduct. The movement from inward remembrance to outward behaviour is what makes the prayer especially rich for an ordinary reader.
The selected opening should be read beside the rest of the verse. It is not an invitation to judge strangers as spiritually worthy or unworthy. A more useful personal reflection asks what kinds of conversation, friendship and example help us live with greater integrity.