Prayer is the highest form of worship. But it is also communication. Communication with our Heavenly Father. Prayer is a way for us to develop a relationship with Him. Remember that communication is not just reserved for your own time of need. A relationship continues through good times and bad.
Imagine for a moment that you only communicate with your husband/wife when you find yourself in a time of crisis. That would never fly! Why then do we reserve our main form of communication with God only for the times that we “need” Him, instead of maintaining a healthy, constant, two-way relationship all the time?
Shew me thy ways, O Lord; teach me thy paths. Lead me in thy truth, and teach me: for thou art the God of my salvation; on thee do I wait all the day.
– Psalm 25:4-5