Hebrews 10:22 let us draw near to God with a sincere heart and with the full assurance that faith brings, having our hearts sprinkled to cleanse us from a guilty conscience and having our bodies washed with pure water.
When we do come to God in prayer we have to make sure that we come to Him with a pure and open heart because it is into that heart that God looks; not in absolute fear but with the full assurance that God is listening and will answer prayers.
We do not have to have a guilty conscience because Christ has paid for our sin debt already; and as long as that is what we are trusting in (in full assurance) then we have a glorious knowledge that God hears everything.
Christ did all that He has done to make sure we can approach Him in prayer at any time so lift up your prayers today for all that He has done!