The pastor is right...judging anyone on where they will spend eternity is definitely above anyone's pay grade down here.
We are, however, called to use some discernment and know them by their fruits...we can all recognize and call out sinful behavior.
It's not judging to recognize a chronic wife beater and condemn the sinful behavior, but we cannot and should not condemn the person, that is God's job, and his only.
God loves the sinner and hates the sin...thank goodness, because we are all sinners.