A legalistic Lord's Supper?

It was Good Friday. Our church and another local church in the same non-denominational denomination held a combined church service at their church. Before we took Communion / the Lord's Supper, one of their pastors talked about what we're saying by participating. Here's a much abbreviated version, from my memory, so it's probably not entirely accurate:

By taking Communion, you are committing to three things:

1. You wholeheartedly commit to the covenant people of God, from Abraham [or Adam, I forget which], through Israel, to the church. Look at the people beside you. These are the people of God who you commit to.
2. You wholeheartedly commit to follow God's rules. Jesus made it simple. He gave two rules: love the Lord your God with all you heart, soul, mind and strength; and love your neighbour as yourself.
3. You wholeheartedly commit to living and promoting God's Kingdom principles wherever you go.

As far as I remember, Jesus didn't make any special rules about taking Communion except, "Do this in remembrance of me." Elsewhere in the Bible, we have these instructions: "Whenever you eat this bread and drink this cup, you proclaim the Lord’s death until he comes. So then, whoever eats the bread or drinks the cup of the Lord in an unworthy manner will be guilty of sinning against the body and blood of the Lord. Everyone ought to examine themselves before they eat of the bread and drink from the cup. For those who eat and drink without discerning the body of Christ eat and drink judgment on themselves." (1 Corinthians 11:26-29, NIV).

A question for any Christians reading this: was this pastor being overly legalistic in saying this, or are these obvious conclusions about what it means to examine oneself before taking Communion?

There is judgment for those who take Communion without self examination, or without recognizing the body and blood of Jesus. But as Jesus said, there's judgment for those who put unnecessary barriers between people and God. Is this pastor putting up unnecessary barriers?

May you have a happy Easter. Remember God's mercy. Take his commands seriously, but don't let anyone tell you you're not good enough to come to the Lord's table.