Unless, of course, it's missionaries telling people how much better their religion is than whatever it is that the potential non-believers believe.
Missionaries may try to help people understand the gospel of Jesus Christ, and encourage them to do things that may get them to "convert" to the Church of Jesus Christ of Latter Day Saints, but generally missionaries are not telling people what that person believes.
If I was a missionary and I met you on the street, I would try to tell you what I believe, I would not try to tell you what you believe. I don't even know you, so how do I know what you truly believe? I believe that was Colton's point.
Go ahead and ask me what I believe if you want to know.
Your missionary line made no sense in the context of what Colton was saying.