should we be more structured?

my question for this week has to do with the reading from Give Praise to God - on pages 162 as well as 166 it’s discussing how we’re to pray, more specifically in how we should approach our language and planning of prayer. And I know that they are definitely things we should work on as christians. But aren’t we supposed to pray to God in a way that’s individual and different then everyone else, something that’s not so structured so that we’re being ourselves with Him? One person could find it natural to pray that way, to another it might be something completely opposite from what they’re used to. Are we to alter the way we think in order to pray in a structured manner?