Remember the context of this story was "who is my neighbor?" A question Jesus answered with this parable. To say that a person will inherit eternal life simply by having a good heart, ignores too many passages, which require a person to "accept Jesus as their Lord and savior and accept that he dies on the cross for their sins". Passages like Acts 16:31, John 3:16, Romans 10:9-10 within their contexts make this quite clear. To say that having a "good heart" is all a person needs to insure their eternal life, contradicts the Bible rather severely and I hold the view that the Bible is dispensationally correct.
Also remember, that the passage "Judge not lest you be judged" must also be viewed in its context. Jesus was saying in that passage of Matthew that you should not judge another if you too have the same sin or worse in your life (the idea of a beam in ones own eye...). However, as Christians we also read that to "restore an erring brother is to cover a multitude of sins". Therefore, to know that he is erring, we must judge him to know whether or not he needs restoring. Jesus was not saying that judgement in and of itself is bad, but rather he who judges others should judge his own self first for he, and every other man, will one day stand before the throne and answer to the Great High Judge Himself.
I hope this has clarified the importance of context and helped all whom read this parable to stay true to its context.
-myself your servant for Jesus' sake.