Anxiety and worry are attitudes we need to rid ourselves of. Peace and joy (among others) are the fruits of the Holy Spirit, the attitudes of Christ we are to put on. God’s peace, by the Holy Spirit, guards our hearts, changes our attitudes, when we pray with thanksgiving.
Having peace and joy is not something we must do on our own before we present our requests, but something we ask for with thanksgiving and in the moment – all the moments, the many moments – we need it.
But prayer is also something we can weave into everything we do, as 1 Thessalonians tells us, “pray without ceasing.”