No, you will not burn in hell for not picking a church. This "pastor" is dead wrong. We are saved by faith alone in Christ Jesus and nothing else. If we are saved by works (going to church because "you have to") there would be no need for Jesus to die for us.
But since our good deeds are as evil deeds in God's eyes, we need to have faith in Jesus to save us, which is what He came to do.
Anyway... going to church is for the worship of God and for Christian fellowship. You shouldn't go it you feel like "you have to".
Actually to be honest, I don't go to church because the churches here are spiritually dead. I stay home and worship God and read His word where there is no one to cause me to stumble in my faith and no one to distract me from God.
I am not saying that church is evil. I am saying that because of today's society and all... even churches are falling away from God. I mean they are marrying off gay men and women. That is not of God.
This is not hate speech. This is fact.
We are saved by Faith not by works. That means that you are saved because you have Faith in Christ Jesus. Because no matter how hard we try we will always mess up.
Here's the truth: Salvation is a FREE GIFT that happens in a split second when you believe in Jesus! It is impossible to lose or "leave" salvation.
The truth about Jesus is that the only way to be saved and to get into heaven and avoid being sent to eternal hell, is by believing in faith alone that Jesus, who is God, died for our sins on the cross as FULL PAYMENT for our sins, and then Jesus rose from the dead (1 Corinthians 15:1-4). Believe this and you will be in heaven, no matter what!