The answer is YES.
God helps those who sincerely ask for things that are in harmony with his will.
A simple “God, help me,” can encourage you. For example:
“Help me, O Lord my God!
Save me because of your unfailing love”—Psalm 109:26
“I am needy and poor: O God, help me.”—Psalm 69:6
Rest assured, God listens to all who come to him with the right attitude. He will not turn down those who are “broken at heart” or “crushed in spirit.”—Psalm 34:18.
It is understandable that you may sometimes feel at distance from him. You need not fear that God is so distant that he is not concerned with your problems. Keep this in mind:
“God is high, and yet the humble one he sees; but the lofty one he knows only from a distance.” (Psalm 138:6)
Did you know that God knows everything about you that even “the very hairs of your head are all numbered”?(Matthew 10:30) God observes details about you that even you are not aware of. How much more, then, will he listen if you pray for his help with your anxieties!—1 Peter 5:7.
God is good! 🙂