The Gospel for the Transfiguration gives us the voice of the Father saying about Jesus, "This is my beloved Son; listen to him."
The spiritual writer Leanne Payne often talks about how in prayer when we listen to the voice of God, we'll find him saying very wonderful things to us. Sometimes I've heard people say things like "God is out to get me." But that's so wrong. Even when we do sin, God is never "out to get us" but always looking to save us. He doesn't approve of the evil we do, but he loves us in spite of it.
Imagine God saying to you, "You are my beloved son; my beloved daughter." He's really saying it.