Let me explain first the understanding, then later why I believe this. Firstly, I would like to emphasise that, as I understand it, we should be thinking of our relationship with God as a very personal one - as we would our parents, best friend or partner. It maybe helps to imagine the possibility that you have a really good close friend, and you always want to be with each other. You could be the only two people in the world, and be quite good friends and quite happy. Now imagine that there are others in the world also, but the two of you are still the closest of friends, and really enjoy being together. When you are together, to your friend you are the most important person, as he is for you. Now imagine that you are together all the time. I think that is a correct way to be thinking of God. It may help even further - if one has low self-esteem - to think of Him as a child. Children are caring and non-judgmental, so it may help some people to think of Him as a loving little brother who cares for you and wants to help you as best he can, and he has no interest in being at all judgemental - he just wants to please you and make sure you are happy so you can be happy together. To me this is a good way to think of God and is quite acceptable, and I will explain why soon.
Now, why is this a correct way to think of God? Well let me divide God into two main aspects. The first aspect is God the deity. This is God as known in the Old Testament and to mankind at that time. Let us call this aspect of God by His name Jehovah. Then there is God the person, the loving soul like you or me, let us call this aspect Jesus. God as the deity has the job of maintaining order in the universe, and of course in this aspect He is omniscient and omnipotent. But God as Jesus is a person, a human, just like you and me. He says, we are made in His image - as a loving person with feelings and a soul. Fine, so why do I think it is ok to think of Him as a child? Because we are called to be perfect, as our Father in heaven is perfect, and we are also called to have the heart of a child. So I think it is fine to think of God or Jesus as a child, with the heart of child. Thinking of Him this way may help you have a better understanding of His heart as a grown man, as His heart is still the heart of child in respect to loving each of us, not being judgmental and only wanting what is best for us. I am sure He thinks of us this way. He Himself came to live as a human, and was exposed to all the temptations we are exposed to, so He knows how we feel. He, of course, did not succumb to the temptations as we sometimes do, but He does not hold that against us I am sure, as He knows we are not Gods and that we are far weaker than He is. Of course, He does hope - like a little brother - that when we do things wrong that we regret them, and that we try not to do them again. Even if someone is very sick in their soul, our God with the heart of a little brother does not hate them, he rather sees them as somewhat ill, and really hopes that His brother (or sister) will get better. In this regard, God the deity may again play a hard hand as a corrective measure, but the brother will be watching, hoping with all His heart that the ill one will soon be well, and that the two of them can be happy together again.