We are never promised a full, "face to face" relationship with God in this life. As a rule, "we walk by faith, not by sight" (2 Corinthians 5:7). But this relationship begins now, in a very real way, the moment someone truly trusts Jesus. For Christians, God is a loving, heavenly Father we can relate to personally.
But how should Christians relate personally to God?
Some religions see relating to God is something that must be done to gain his acceptance. If we pray so many times a day, God will accept us; if we don't, he won't. In this view, it is easy to see relating to God personally as more of a burden than a blessing - something we "must" do lest we feel nagged by guilt. We Christians sometimes think like this too ("I hardly ever pray, God must be really disappointed in me").
But the Bible reassures us that God's acceptance of his people doesn't rise or fall with the quality of their spiritual life. If we have trusted Jesus and received God's forgiveness, we don't have to do certain things in order to gain God's acceptance. We are already wholly and unreservedly accepted by him (see Online Sermon, "God is For Us" dated 07/22/2013)!
God is not against us when we're prayerless and for us when we're prayerful. In Christ, he's for us. Period.
Relating to God personally (for example, through prayer and praise) is something the Bible urges us to do for our good. God's desire is to satisfy us, not to burden us (Isaiah 55:1-3).
Is your prayer-life in tatters? Does the very subject of prayer make you feel guilty? Then the Bible has good news for you! If Jesus is your Lord and Saviour, God is for you, not against you. After all, "while we were still sinners, Christ died for us" (Romans 5:8)!
So...don't pray in order to gain God's acceptance. And don't feel you need to clean yourself up before you can approach him.
Approach your affectionate, heavenly Father as an affectionate, heavenly Father. Gladly.