How To Pray To God

Prayer, simply put, is conversation with God. That in mind, shouldn't we be doing it in a way that pleases Him? Not to get us on a good list so that He'll do what we ask, but to really understand how to talk with Him, and share our concerns, fears, and pleas. We would never subject a friend to demands made out of fear or pride. How could that be a good way to talk to God?