God's presence was in the inner tent. Jesus' death actually ripped the wall of partition between the two. Because of His sacrifice, we can actually be in the presence of God. This is not just an idea, it is reality. That awareness should cause us to worship Him.
Worship is an expression of our being.
It is something we choose to do or not do with our voice and our actions. The point being we are worshiping God when we pray . That is our highest calling. That is when He is most pleased. He delights in hearing our prayers.