Why do I feel liberated without God , yet I crave praying to him.?

Regardless of the religious connotations prayer is psychological process of affirmation and it re-solidifies you in yourself; your hopes and your dreams. There are psychological studies (if you care to look for them you can, I won't force them on you), that show the benefits of prayer and they show that those benefits work regardless of faith or religion or even if you choose to be atheist, if the process is modified a bit.