Classical music should be heard and appreciated by all people. Composers were and are real people who struggle with the same problems we all do, including paying bills, satisfying their clients, and just existing from one day to the next.
It's not necessary to understand composition techniques, orchestration principles, and the intricacies of arranging music to be awed by its beauty. Just let it wash over you and absorb the feelings!
The genius of Bach, the magnificence of Beethoven, the sheer beauty of Chopin, and the power of Prokofiev are all waiting to be discovered by you, no matter how much you know or don't know about music theory and history.