Blessed are the pure in heart: for they shall see God. – Matthew 5:8
Having a “pure heart” is a matter of motives. Does it mean being sinless no, as humans we all sin but it does mean taking responsibility for making the right moves, for the right reasons. Motives are tricky things, because in most cases, others cannot know what is inside of our heart and mind it can easily be misunderstood or misinterpreted.
But God knows He really sees us! When we stop striving for what we want for ourselves and seek out what we can give for the benefit of others, we polish our hearts into a pure, clean shine that allows us to better see Him!