"Christ has pledged Himself to be our substitute and surety, and He neglects no one. He who could not see human beings exposed to eternal ruin without pouring out His soul unto death in their behalf, will look with pity and compassion upon every soul who realizes that he cannot save himself. COL 157.1"
"Come unto me, all ye that labour and are heavy laden, and I will give you rest."
Both passages speak of Christ's compassion and willingness to help those who are burdened. The connection is valid.
"He will look upon no trembling suppliant without raising him up. He who through His own atonement provided for man an infinite fund of moral power, will not fail to employ this power in our behalf. We may take our sins and sorrows to His feet; for He loves us. His every look and word invites our confidence. He will shape and mold our characters according to His own will. COL 157.2"
"Let us therefore come boldly unto the throne of grace, that we may obtain mercy, and find grace to help in time of need."
Both passages encourage approaching God with confidence and receiving help. The connection is clear and meaningful.