“This is why every loyal one will pray to you
While you may yet be found.”
~Psalm 32:6

Who does God consider to be a “loyal one”?
The previous verse is referring to someone who confesses their sins to God and whom God pardons (Psalm 32:5).
Since we are all imperfect sinners, to remain close to Him I must first recognize and value the extent of His mercy and kindness toward me.
If I trust in Jehovah, He will ‘surround me with His loyal love’ and, despite my errors, I will be able to rejoice joyfully among the righteous (Psalm 32:10,11).
In effect, it is possible for God to consider us, mere sinners, as being “upright in heart,” so long as we do not try to deceive Him.
And when we recognize the immense value of this, we may even find happiness  (Psalm 32:1,2).