You hear God with your heart, not your ears. You see God with faith not your eyes. You draw near to God by acting on your faith, then God draws near to you in the form of prosperity(progress toward your faith). Then, when you come into the presence of God, there is fullness of joy, meaning there is satisfaction when your faith ‘materialises’. The presence of God is where the word of God is, where He sent it; the action He has commanded and the result it produces.
In that day you will ask nothing of me. Truly, truly, I say to you, whatever you ask of the Father in my name, he will give it to you. Until now you have asked nothing in my name. Ask, and you will receive, that your joy may be full. (John 16:23, 24 ESV)
You make known to me the path of life; in your presence there is fullness of joy; at your right hand(implementation of His will) are pleasures forevermore. (Psalm 16:11 ESV) (interpretation in parenthesis added)