Intimacy with God does not just come by feeling the presence of God, following some religious activity or even by weeping in prayer.
Intimacy with God comes by hearing and obeying God on a daily basis. By asking God every day, "Lord, what do you want me to do today?". He then speaks to us and we should do exactly what He tells us.
When Paul had his Damascus encounter with Jesus, he immediately asked, "What do you want me to do Lord?", and the Lord told him what He wanted him to do. I believe this was the way Paul lived for the rest of his life; hearing and obeying God every day.
Every morning, Jesus sought the Father to know what the Father wanted Him to do. Jesus said, “Most assuredly, I say to you, the Son can do nothing of Himself, but what He sees the Father do; for whatever He does, the Son also does in like manner” (John 5:19). Jesus said to them, “My food is to do the will of Him who sent Me, and to finish His work” (John 4:34).
Start hearing and obeying God by training yourself to obey the written Word of God and the Holy Spirit will help you to hear and obey the spoken Word.
Intimacy with God is communication both ways, between God and us. Starting from the book of Exodus to the end of Deuteronomy, the phrase, 'God said to Moses' and 'Moses said to God.', appears several times.
When we pray, we talk to God and when we read His Word, He talks to us. Develop a love relationship with Jesus. Remember the words of the Christian benediction. “The grace of the Lord Jesus Christ, and the love of God, and the communion of the Holy Ghost, be with you all. Amen” (2 Corinthians 13:14). One of the main blessings the Holy Spirit brings us is communion with God.
Remain connected with the Lord in the Spirit all the time, talking to Him, making melody in your heart, praising Him, and reading His Word. Always clinging to Jesus who lives inside you! Admire and adore Him there.
The moment you choose to obey Jesus and His Word, He will flood you with His grace to obey. You will then be equipped to be a doer of His Word and will not displease the Lord in any way – a dwelling place of God, a vessel of Love – filled with His Spirit to fulfil His pleasure.