A king or queen gives permission before anyone meets with them, but God does not seek such from us. He is always open to us, and we only need to pray and seek His face.
He says in Jeremiah 33:3 - "Call to Me and I will answer you and tell you great and unsearchable things you do not know". He is always available when we call, and He is willing to answer us.
We have the privilege to go into the house of The Lord without any physical qualifications. We are all accepted before the Lord, granted we come with a pure heart and clean hands. As Psalm 24:3-4 says, "Who may ascend the hill of the Lord? Who may stand in His holy place? He who has clean hands and a pure heart, who does not lift up his soul to an idol or swear deceitfully".
Let us make good use of this privilege, communicate with God frequently and go into the house of the Lord with prayer and supplication. For He is always there to listen to us.