O son, when I was little I thought we had a physical God up in the sky. When people talked about being a 'friend' to God, I thought it was too far-fetched. Know that His Kingdom is not in a far away place but the consciousness within your heart. This is what I learned from our guides and Abu Uthman Said Bin Ismail al-Hiri said the same thing. He too talked about consciousness of His presence and how we should keep company with the Prophet, awliya and others.
"Seek the company of Allah with good adab (manners). Be conscious of His Greatness and be aware of Him watching you (muraqabah). Seek the company of Rasulullah s.a.w by following sunnah and adhering to shari'at. Seek the company of awliya with respect and by doing khidmat (service) for them. Mingle with your family with good akhlak (behaviors) and by giving them glad tidings. Mingle with the ignorants by offering them prayers and love."
Translated and adapted from:
Ibnu Qayim Madarij al-Salikin Vol 2: p 353
Credit: Yayasan Sofa article in Utusan Malaysia Nov 2010