In Luke chapter 10, Jesus is speaking with a lawyer who recounts that the law (of God) requires a person to love their neighbor as themselves. Jesus affirms that he is correct. Jesus then delivers the parable of the good samaritan to demonstrate how someone can love their neighbor as themselves. After the story ends, Jesus admonishes the hearer,
“Go, and do thou likewise.”
So far, Christ has taught that we should love our neighbor by doing for them the same kinds of things He Himself did for others as he traveled and served. Then, in Matthew 25:40 (KJV), Jesus affirms this:
“…Verily I say unto you, Inasmuch as ye have done it unto one of the least of these my brethren, ye have done it unto me.”
Still further, in John 14:15, Jesus both educates and commands his disciples thus:
“If ye love me, keep my comandments.”
Then, we arrive at what we are taught in the epistle of James, chapter 1 verse 27:
“Pure religion and undefiled before God and the Father is this, To visit the fatherless and widows in their affliction, and to keep himself unspotted from the world.”
So, to love God and Christ is to keep the commandments, which means to serve both God Himself and our fellow man, and by loving people in this way we have a religion that James says is “pure” and “undefiled”. So, in its best sense, a real relationship with God must involve a true form of religion, and the two cannot be fully separated.
I’m glad to hear that you yourself have such a personal relationship with God.