The word azkir is teaching an important lesson about the worship of G-d. The first half of 20:21 records that one is permitted to make a dirt altar, and this permission might lead one to believe that G-d has to respond to these sacrifices in some way. The second half of 20:21, the word, azkir, teaches us that G-d does not have to respond. G-d decides when to call out His Name, appear and bless the people. On some occasions, G-d will respond, on most occasions G-d will not respond, and on some occasions G-d will respond when no sacrifice is offered. The law of offering sacrifices on a dirt altar is one of the first laws of sacrifices (excluding the korban pesach, the first?), and this same idea occurs by the first sacrifice in the Torah, G-d's non-acceptance of Kayin's sacrifice, Bereshit 4:5. This same message is also relevant to prayer, which has much less of a biblical basis than sacrifices, that the word azkir in 20:21 is to teach people that G-d decides when to respond to prayers and people cannot "force" G-d.
Bibliography:
Sarna, Nahum (1923-2005), 1991, The JPS Torah Commentary: Exodus, Philadelphia: The Jewish Publication Society.