Allah does not talk to humans directly... Unless by inspiration (Prophets)
So no if I heard "God" talking to me it would be a good time to call the shrink... Or an exorcist
And yes Muslims have the most beautiful relation with their Creator. Nothing describes and glorifies the qualities and greatness of Allah... What God is and what God is NOT like the Quran does.
Muslims live solely to seek his countenance. We worship Him in every act, every thought... Body and soul
An act of kindness is worship.. A smile is.. A gentle word... Raising your young ones to be righteous.. Performing your job properly.. Salat, charity, compassion. Every act we do is for His sake and seeking His pleasure (and out of humanity as well. It's BOTH).
We mention his name before we eat, when we leave the house and come back.. Standing, sitting, lying down, before getting into the car... Even when a Muslim wants to be intimate with his wife (yes.. So God blesses the union and progeny)...
Heck, our greeting we say "may the peace and mercy of God be upon you"...
"And I didn't create the jinn and men except that to worship Me"
He is "closer to us than our jugular vein"
What do you think? When your God.. Your creator tells you that He loves you and that you should love him back... You.. Not even a speck of sand in the desert when you look at the universe.. He is telling you that He is closer to you than you jugular vein and that He knows you better than you know yourself
A Muslim does not need to see God to know He exists
His signs are EVERYWHERE for those with eyes to see and ears to hear and hearts to ponder on
"In ourselves and in the horizons"