It's really not out of context. He just got done telling them to go and evangelize all the lost tribes of Israel, and that "they would not reach every city before He comes again".
You cannot love a peaceful coexistence with anyone more than God and His commandment to spread the gospel.
Matthew 10:35
For I am come to set a man at variance against his father, and the daughter against her mother, and the daughter in law against her mother in law.