Can you pray god with clear mind

The word of God says "come to me you who are heavy laden and I will give you rest." Some people think that you must always approach God with a clear mind in a peaceful environment, not necessarily so. For most people their prayers are most meaningful when they are troubled e.g. when they have problems and don't know what to do, they pray when they meet a serious accident and fear for their lives. Some pray when they are at the end of the road and seems there's no way out except ask God for help. In a situation like these there is nothing you can think of but God. But if you like to medidate on the goodness of God, His greatness and other things, a peaceful environment without distraction in any form coupled with a clear mind help a lot.