لَّقَدْ كَانَ لَكُمْ فِى رَسُولِ ٱللَّهِ أُسْوَةٌ حَسَنَةٌ لِّمَن كَانَ يَرْجُوا۟ ٱللَّهَ وَٱلْيَوْمَ ٱلْـَٔاخِرَ وَذَكَرَ ٱللَّهَ
Indeed, in the Messenger of Allah you have an excellent example for whoever has hope in Allah and the Last Day, and remembers Allah often.
Yes you must be clear in belief that "the way of beloved prophet Muhammad SAW will not lead you to hell fire". Confusion in this belief can be sign of week iman. Before going for dawah to others we should give dawah to ourself and strengthen faith. You should be super clear and there should not be a little confusion that the way of beloved prophet Muhammad SAW is the way and it is the only way.
Confusion in dawah can be dangerous, you can see cases people slipping in dawah when there own faith was not strong.