Yes, That is the Primary Purpose of Prayer

But there is a place for petitionary prayer as well.

"When we pray, it is certainly not a question of persuading God, of moving Him to change His providential dispositions; it is only a question of lifting our will to His heights, to will with Him in time what He has decided to give us from eternity." -Fr. R. Garrigou-Lagrange, OP

— Fr. Aquinas Guilbeau, OP (@FrAquinasOP) November 7, 2020