That too is prayer. In fact prayer is the sharing of any emotion with God. And this is powerfully illustrated in the Book of Psalms. David cries out to the Lord when he is afraid, angry, sick, depressed, delighted, and sometimes just want to be silent and soak in God's presence. We have already seen one answer to this question.
Any friendship involves sharing.
Another answer is that God invites us. Those who love me, I will deliver. Then there is the example throughout the Bible of men and women who loved to pray, and who were friends of God. We often assume that it is women who pray. And of course Jesus not only taught his disciples how to pray, but himself felt the need to get up before day break to meet with his Father.