“The LORD is near to all who call upon Him, to all who call upon Him in truth.” (NASB)
STRONGS HEBREW/GREEK ORIGINS
“The LORD is near (qarowb: nigh, at hand, neighbor, next, kin; personal relationship) to all who call (qara': utter a loud sound, to call unto, cry for help, to summon, invite) upon Him, to all who call upon Him in truth ('emeth: right, faithfully, assuredly, faithful, firmness, faithfulness, truth, sureness, reliability, stability, continuance, reliableness) .”
You'll have a close, personal relationship with the Lord when you faithfully and assuredly cry out to Him for help.
Is the Lord near you today? Can you feel His presence and companionship throughout your days? If not, cry out to Him - seek Him. If you know Him and are known by Him, He should not be some distant Being that you randomly call upon now and then. Cultivate a moment by moment interaction with Him today.