God made us with the ability to love Him and reverence Him. When we have an intimacy with God; it means a closer and personal intimacy in which we are going to know God more and more. The more you know Him the more intimate friendship you will have with Him. How can you know Him more and more? By taking (praying). In a conversation you talk but also hears. Meaning we need to hear Him also (His Word).
When we have intimacy with God, even In our daily life He will guide our path. He will be closer to you. In this intimacy you will worship Him because He’s everything. You’ll trust Him and believe Him. You believe in His Word and nothing is going to move you.