The Heart that is Close to God

In 1 Samuel 15, God sends Saul the king on a mission: to destroy the Amalekites completely. But Saul deliberately disobeys and spares the king, as well as taking spoil from the battle. It even says that he builds a monument to himself (verse 12). Samuel the prophet comes to Saul and rebukes him for this. He says, among other things, these famous words:
22 And Samuel said, "Has the LORD as great delight in burnt offerings and sacrifices, as in obeying the voice of the LORD? Behold, to obey is better than sacrifice, and to listen than the fat of rams.
23 For rebellion is as the sin of divination, and presumption is as iniquity and idolatry. Because you have rejected the word of the LORD, he has also rejected you from being king."

Israel was commanded to observe feasts and perform specific sacrifices and rituals, but the point of all of that was always to be a people who were near to God; to be people who reflected his heart.

Jesus also repeated this truth to the religious leaders of his day (Matthew 9:13, 12:7). What God wants is obedience, but obedience from the heart, pure and sincere, out of love and reverence for him. God has never just wanted his people to go through the motions, he's always wanted them to be close to his heart.

After Saul's disobedience, Samuel says that God has rejected him as king and has chosen "someone better" (verse 28). God chose David, even before David was known, because he had the right heart, he was close to God.

The next chapter of 1 Samuel goes on to tell how David was anointed by Samuel in Bethlehem. What stands out to me today, is how Saul reacted when he first saw Samuel.

And Samuel came to Saul, and Saul said to him, "Blessed be you to the LORD. I have performed the commandment of the LORD." (verse 13)

In Saul's mind, he was obedient to God, even though God was clear. Saul then tries to reason his way out of his disobedience and Samuel basically tells him to shut up and listen to what God says.

It makes me wonder, how often do I know what God has said to do, and I disobey? Further than that, what kind of excuses do I make to try and justify my disobedience?
Maybe my heart is like Saul's, where I enjoy God's favor and the positions he's given me more than being close to him? It's a scary thought but I bet it's partly true. So I better fix my heart.