Rupa Gosvami describes different types of prayers. They come under the category of vijnapti. Vijnapti is a spiritual request. So the first type of prayer is called samprartha-natmika. Samprartha-natmika is praying for help to make progress on the path of devotional service. The second is called dainyabodhika; we come and reveal our minds before the Deity. We should not think that there is something wrong in offering some prayer. Of course, it is very good to first offer the prayers of the acaryas, but a devotee can also offer prayers in his own words.
MKV, Vol 2- Pg 13 (Q/A Meeting With Disciples, Divnomorsk—6/10/01)