There is no set prayer that must be said in order to be heard by God. You can say traditional prayers (like an Act of Contrition, the Our Father, a Hail Mary, etc.) or you can simply say what your heart leads you to say. You can pray to any of the Trinity (the Father, the Son, the Holy Spirit). Or you can ask a saint to bring your petition before God.
Of course there are. There are morning prayers, afternoon prayers, evening prayers, prayers before a meal, prayers after a meal, prayers for forgiveness, prayers for strength, etc. The Bible says to pray always (Lk 21:36), the Church clergy (and many laity) pray the Liturgy of the Hours. Prayer plays a very important role in a Catholic’s life. The Rosary is perhaps my personal favorite prayer but there are MANY prayers out there, not to mention the prayers that come directly from your heart.
If you’d like. There is no requirement to do so however. God bless.