The Vatican released the message on Pentecost Sunday. World Mission Sunday falls on the penultimate Sunday of October every year. This year it will be observed on Oct. 20.
The theme of this year's observance is "Baptized and Sent: The Church of Christ on Mission in the World."
"The Church is on a mission in the world," Francis said in his message.
"Faith in Jesus Christ enables us to see all things in their proper perspective, as we view the world with God's own eyes and heart. Hope opens us up to the eternal horizons of the divine life that we share.
"This missionary mandate touches us personally: I am a mission, always; you are a mission, always; every baptized man and woman is a mission… This life is bestowed on us in baptism, which grants us the gift of faith in Jesus Christ, the conqueror of sin and death… Our mission, then, is rooted in the fatherhood of God and the motherhood of the Church."
Pope Pius XI instituted World Mission Sunday in 1926. The annual day encourages prayers, cooperation and help for missions as well as reminding Christians about the fundamental missionary character of the Church and of every baptized person.