Simply slide the lock screen grabber left to reveal your Axis, then swipe up on the app you want to open! Set your custom app grabbers via the Axis Settings where you'll find a wide variety of apps, which each have their own tailor made app grabber icon.
Notably, apps are kept secure with a custom passcode input prompt. You can configure the tweak's options from the Settings app.
Axis can be purchased from the Cydia Store for $0.99. A similar tweak called Grabby was recently released by Ryan Petrich.