Honey, God is all knowing. He knows the context of your words, and he is incapable of hatred. One of the ten commandments states, "You shall have no other Gods before me." So naturally, it is a good thing that you don't worship Satan!
God created you-- he knew you before you were born! He most definitely knows your feelings and can see into your heart's thoughts and feelings. Now, personally, I feel this way about prayer: You don't have to speak to God in any certain way, (as in "thee, thy, thou" or any extreme formalities) and while he does want you to respect him, he also wants you to be his friend. He wants you to talk to him, love him, treat him as someone close to you. I find no fault in saying something as simple as, "Hey God, how are you today?" or "Thanks for helping me through this tough situation." Not all prayers have to be formal and long-winded. Not all prayers have to start with "Dear" and end with "Amen".
You can speak to God under your breath or in your mind, just to share a thought or a part of your day with him. The Lord created us to love him-- it is only natural to think he'd want to be as close to us as he could. We are the desires of his heart, after all. And for me, he his also the desire of mine. :)
A daily personal and rewarding relationship with Jesus Christ