This relationship with the Lord is not intended as a duty or an imposition. It is a bond that comes from within. It is a relationship lived with the heart: it is our friendship with God, granted to us by Jesus, a friendship that changes our life and fills us with passion, with joy. Thus, the gift of piety stirs in us above all gratitude and praise. This is, in fact, the reason and the most authentic meaning of our worship and our adoration. When the Holy Spirit allows us to perceive the presence of the Lord and all his love for us, it warms the heart and moves us quite naturally to prayer and celebration.
--Pope Francis, General Audience, June 4, 2014