This article explores the notion of worship as a natural and universal disposition, described by Thomas Aquinas in ST II-II, q.81. Worship, however, is for Aquinas most relevant in the context of divine friendship or caritas with God, which Aquinas describes in ST II-II, q.23. This article, therefore, explains a possible connection between worship and love. How can the task to worship God grounded in the debt to God qua creator and the appreciation of the excellence of God be reconciled with the proximity and closeness with God that caritas implies? Drawing from Jewish philosophy, especially Martin Buber’s I-Thou relationships, and new findings in experimental psychology, in particular joint attention, a second-personal model of worship can be developed. This form of worship encompasses, on the one hand, the intimacy and sense of presence of God that worship can involve, and on the other hand, the distinctiveness and pre-eminence of God, essential for a worshipful attitude. The aim of this article is to explore how second-personal relatedness with God is possible in worship directed to God. Since God seems to be present in worship in a twofold manner, the interest is in the role the Holy Spirit can play in worship.