Faith712 thanks for the greeting. Hope you are doing well, too.
Don't know of a set formula.to establish a relationship with the Lord. But when we consider forming relationships with others, we get to know them and vice versa. To help us, we can study God's names, titles, and attributes. There are lists online. I select sites that include the Scriptural bases so I can check them out for accuracy. On the other hand, we know God knows all about us. It's important for us to know what God thinks about us such as "The Lord thy God in the midst of thee is mighty; he will save, he will rejoice over thee with joy; he will rest in his love, he will joy over thee with singing." Zep 3:17 Jesus said: "I in them, and thou in me, that they may be made perfect in one; and that the world may know that thou hast sent me, and hast loved them, as thou hast loved me." (John 17:23) Plus the ultimate display of God's love for us by Jesus' death, burial, and resurrection. (John 3:16).
We dont want to empty our minds but meditate/focus on God and His Word. We can spend some time being still yet listening and thinking about God or a Scripture (PSA 46:10)..In forming relationship with Him, we're to pray without ceasing. I see that as keeping Him in the forefront of our minds. We acknowledge that He is holy, love, faithful, merciful,, wisdom, truth, - well, there's too many to list here. What an opportunity we have to praise and worship our Lord.
In regards to hearing God, for Adam and Eve 'And they heard the voice of the Lord God walking in the garden in the cool of the day..." (Gen 3:8). For us- "My sheep hear my voice, and I know them, and they follow me:" (John 10 :27). Recommend listening to Dr Robert Morris on Hearing God's voice on youtube. Any of his teachings are Biblically based. The Gateway church online has a lot of his sermons available.