Is teaching eternal security teaching a false doctrine?

Yesterday we talked about the idea that if I believe in eternal security, can I do whatever I want?  Part of doing what I want is to say, I am saved now, I am not going to do anything for Jesus.  Jesus will look at your heart and see if you had saving faith.  When you say you love Jesus, you are also accepting a commission to tell others... Do I need to be saved again, baptized again?