well, first of all, He really isn’t like us “at heart” but we are like Him since we were created in His image, and we should daily strive to be like Him, as He had originally intended. :-)
however, He does crave a relationship with us. He craves to be close, to hear what is on our heart, to hear our needs, and to hear us praise Him.
personally, He is my Father. He is my Best Friend. He is who i can confide in. i share my day with Him, i share everything that is on my heart. often times i’ll go on long drives and i’ll just talk to Him as if He is sitting in the passenger seat. but sometimes i’ll sit in silence and meditate on Him. really listen closely to what He may have put on my heart, or what He is trying to teach me. I will sit on my bed with my Bible, tell God that i am going to randomly open my Bible, and for wherever i turn, for it to speak to me. doing that is very refreshing, i can see how Christ can move my heart and direct my thoughts.
honestly, you can talk to Him about anything. He is your greatest Friend. He wants praise + He wants to know our needs, but at the same time, He just wants us to talk to him and rest in Him and let Him know about our lives.
He is always there ready to listen, and at the same time, He is always there ready to speak to us. we just have to pause and let Him in.
i hope this helps!