The main thing that God longs for us is for us to talk to him. He has no interest in the techniques of praying. I am always touched by the simplicity of what Jesus taught his disciples. I always remember Bishop Read mentioning in a sermon that the greatest gift we can offer anyone is our time . It is wonderful when we can give someone our undivided attention for one hour.
Lovers find that easy and very wonderful.
And that is certainly true in our friendship relationship with God. He loves it when we serve him, but perhaps his greatest longing is that we take time to love him, listen to him, talk to him. There is a touching verse in Mark's Gospel when Jesus is choosing his apostles. He appointed twelve to be with him and to be sent out to proclaim the message. That expresses his longing for these twelve to be his close friends, to be with him, to listen, and enjoy sharing with him.