God is not a mysterious being that you cannot approach neither is He hidden in a place that you cannot come near.
God has appealed several times that we should talk to Him. Moses was so close to God that he “saw” the rear back of God. He talked to God directly.
God is a Spirit which means He is everywhere because He is Omnipresent. Therefore, He can hear you whenever you call.
We miss a lot when we do not talk to Him about our needs and desires. We can talk to God about anything and everything because the bible says “make your request known unto God.”
You can use the same energy you use in whining and complaining to talk to God the same way you talk to a friend. He is near to hear you.