Thomas Goodwin offers these thoughts on communion with God as friendship, and how this concept should shape our devotional life. Do we serve out of duty or delight?

Mutual communion is the soul of all true friendship and a familiar converse with a friend hath the greatest sweetness in it … [so] besides the common tribute of daily worship you owe to [God], take occasion to come into his presence on purpose to have communion with him. This is truly friendly, for friendship is most maintained and kept up by visits; and these, the more free and less occasioned by urgent business … they are, the more friendly they are. … We use to check our friends with this upbraiding, You still [always] come when you have some business, but when will you come to see me? … When thou comest into his presence, be telling him still how well thou lovest him; labour to abound in expressions of that kind, than which … there is nothing more taking with the heart of any friend.

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As cited in JI Packer, A Quest for Godliness (Wheaton: Crossway, 1990), 208.

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