I'd say it slightly different: I hope that we can have the courage to tell the people closest to us when their behaviors make us feel angry or disgusted or ashamed.

I don't like to use the word "criticism" because I believe it tends to be about trying to objectively label their actions, and much more prefer opening up about we individually feel or even how we imagine others might feel in reaction to those actions.

I agree with you in that this may be more well received by people who feel closest to us and also may be easier for us to open up to them when we fee close to them.