We have to get away from the idea that God is somehow very distant from man. God is vry close to man, in fact God is everywhere, and in particular, God is in our very hearts. So far as Sathya Sai Baba is concerned there is no compuision. We need not believe that he is God.
It is more important that we believe that we (and also the person sitting next to us on the bus) are God, in those forms and with those names.