St. Teresa of Avila was a prominent reformer, a holy mystic, and a Doctor of the Church. She also was not afraid to laugh with God:
One famous mud-splattered example is when she was travelling by horse and trap to see a convent of nuns who were getting sloppy. The vehicle had an accident and she was thrown into a puddle of mud. Feeling embarrassed that she would greet the nuns in a muddy habit, she looked up to the heavens and said: “God, if this is how you treat your friends, no wonder you have so few.”
“The fear of the Lord is the beginning of wisdom.” So says Proverbs 9:10. But possessing a healthy fear of God does not negate His other attributes: of Father, Savior, and even Friend.
This can extend to each aspect of our lives. Don’t be afraid to pray informally—not every prayer needs to be a Hail Mary or an Our Father (although those are wonderful). Don’t worry about laughing at a sign you may receive, or a coincidence that’s a little too coincidental.
At the same time, maintain that fear. Don’t laugh at God. Don’t use His name in vain. But do stop treating Him solely as a distant ruler. He’s not just a King—He’s a Father, too.