This is another utterance in spirit of the Lord Jesus Christ after His resurrection.
He praises God for this deliverance (Psa. 34:1-2). He calls on His saints to join Him in this (Psa. 34:3-7). He exhorts them to trust in God because of this; and to assure themselves, on the ground of His resurrection, that the Lord indeed is gracious. (Psa. 34:8-10; and 1 Peter 2:3.)
We know that Psalm 34:20 was fulfilled in the person of the Lord Jesus. (See John 19:36.)
He then gathers the family around Him to read them as it were the lessons which, as in resurrection, He was by experience abundantly competent to teach them. He tells them how to walk through life so as to escape many of its sorrows; but that if troubles do come (as they will) even because of their uprightness, they may, as by His example, being now raised from the dead, assure themselves of final deliverance, and that no real damage will ever be sustained by them; but that rather their redeemer shall be their avenger also, destroying those who hate them.
Thus Jesus by His resurrection comforts and instructs His saints or disciples. He shares with them (as everything else) the profit of His own experience. (See Psa. 34:12-15, and 1 Peter 3.)
And this is His mind in Matthew 11:29-30—“Learn of me, for I am meek and lowly in heart, and ye shall find rest unto your souls; for my yoke is easy, and my burden is light.” By this telling them what He Himself had already proved, that the path of a meek and lowly heart led the soul unto much rest, making the yoke easy and the burden light. And who of us, beloved, do not prove this?
I might add, suggested by Psalm 34:6, how eminently was the Lord Jesus, though “rich in glory” (see Phil. 4:19), “the poor man,” as again called in Psalm 35:10, and Psalm 41:1. We know Him thus in the Evangelists, blessed be His name!