Another interpretation: "It is not for yourselves that you are sitting, but for us. See to what kind of place we are going, to the place of seraphim and living creatures and angels. Seek mercy on our behalf, that we may ascend in peace and return in peace." And these things are an inference from minor to major: if Moses, to whom it was said "Come up to Me" and who was given assurance, was nevertheless so afraid, and likewise Jacob, of whom it is written, "And Jacob was greatly afraid and distressed" (Genesis 32:8), then how much more should we seek mercy from before the Omnipresent, that He have compassion upon us and redeem us from every trouble.
Pray for Us That We Ascend and Return in Peace
Yalkut Shimoni on Torah 362:4
דָּבָר אַחֵר. לֹא לָכֶם אַתֶּם יוֹשְׁבִים אֶלָּא לָנוּ, רְאוּ לְאֵיזֶה מָקוֹם אָנוּ הוֹלְכִים, לִמְקוֹם שְׂרָפִים וְחַיּוֹת וּמַלְאָכִים, בַּקְּשׁוּ עָלֵינוּ רַחֲמִים שֶׁנַּעֲלֶה לְשָלוֹם וְנָשׁוּב לְשָלוֹם, וַהֲרֵי דְבָרִים קַל וָחֹמֶר, וּמָה אִם מֹשֶׁה, שֶׁנֶּאֱמַר לוֹ עֲלֵה אֵלַי וְהִבְטִיחוֹ, כָּךְ הָיָה מִתְפַּחֵד, וְכֵן יַעֲקֹב (שם לב, ח) "וַיִּירָא יַעֲקֹב מְאֹד וַיֵּצֶר לוֹ", אָנוּ עַל אַחַת כַּמָּה וְכַמָּה שֶׁנְּבַקֵּשׁ רַחֲמִים מִלִּפְנֵי הַמָּקוֹם שֶׁיְּרַחֵם עָלֵינוּ וְיִפְדֵּנוּ מִכָּל צָרָה.