So how do we get them to the point of being repentant if we bar them from church? Did Jesus ban unrepentant sinners from his presence?
It's hard to imagine Jesus accepting these people if they hadn't displayed a repentant attitude:
Mark 7:
25For a certain woman, whose young daughter had an unclean spirit, heard of him, and came and fell at his feet:
26The woman was a Greek, a Syrophenician by nation; and she besought him that he would cast forth the devil out of her daughter.
27But Jesus said unto her, Let the children first be filled: for it is not meet to take the children's bread, and to cast it unto the dogs.
28And she answered and said unto him, Yes, Lord: yet the dogs under the table eat of the children's crumbs.
29And he said unto her, For this saying go thy way; the devil is gone out of thy daughter.
John 13:
6Then cometh he to Simon Peter: and Peter saith unto him, Lord, dost thou wash my feet?
7Jesus answered and said unto him, What I do thou knowest not now; but thou shalt know hereafter.
8Peter saith unto him, Thou shalt never wash my feet. Jesus answered him, If I wash thee not, thou hast no part with me.
Luke 9:
62And Jesus said unto him, No man, having put his hand to the plough, and looking back, is fit for the kingdom of God.
You really need to shake off the "inclusive" heresy that is so prevalent among evangelical thinking nowadays. Jesus was preeminently exclusive when it came to his commands.