The best way, is to speak to Him, with even simple thoughts of the day. Reciting memorized prayers are good, but to KNOW Him is to love him. While driving to work for instance, talk out loud to Him in your car, after all, He is right there with you. Tell him how you feel about where you are going, work, those you work with, or family. Especially when you have issues with those at work, in your family, neighbors, friends, just talk to Him and ask him for help, to bless you, to bless your daily decisions, your travels.
Stop once in awhile and just say, God, I know you are with me. Watch a sunset and tell Him how lovely it is. Tell him thank you for anything and everything as your day progesses.
God, thanks for getting me to work on time, and in one piece.
God, thanks for coffee, this is awesome.
God, I dont know how to tell my co-worker they need to improve, can you help me in this?
God, I dont know why my spouse is crabby, can you whisper a clue in my ear.
Etc, Begin by having a friendship with Him, its what he desires and aches for from all of us.
Hope this helps.