I like to think about how we were always welcome at grandma and grandpa's, just as we are welcomed into our Heavenly Father's presence. God offers us a special invitation:
For He says, In the time of favor (of an assured welcome) I have listened to and heeded your call, and I have helped you on the day of deliverance (the day of salvation). Behold, now is truly the time for a gracious welcome and acceptance [of you from God]; behold, now is the day of salvation!
2 Corinthians 6:2 Amplified