Well, there is one way, which every parent knows.
My kid asks me for money. Then she asks me to drive her into Charlottesville. Then I have to stay in the car while she goes into the Hallmark store.
Then, a couple of days later I am happy to thank her for my birthday card.
I REALLY thank her, I am truly delighted. Even though I did 99.44% of the work.
I am, that is, happy to GIVE her a claim on me. It's a real claim, but I gave it to her.
I'm glad you brought up the idea about your daughter. Here is another example that I think goes even deeper into that relationship as compared to us as children of God by faith in Jesus Christ:
When your daughter was born, I am sure you were delighted beyond words. You loved her more than you ever thought you could love anyone. I am sure you have and are raising her to be an obedient, trustworthy and caring person. But, imagine for a moment that, for some reason, she rebels against your authority. She does something really, really wrong. Would she cease to be your child? Would you stop loving her? Knowing you as well as I can from our few exchanges, I would say, no, you would never forsake her no matter what she did. You would be crushed, hurt, sorrowful and you would do all you could to draw her back to you. Even if she said she NEVER wanted to see you again, she still would not cease to be your child. You could even "disown" her, but she would still be biologically your child.
That is what I mean when I talk about our relationship with our Heavenly Father. When I became "born-again" - I know you may dislike that term, but it's kinda shorthand for the concept - I also became a child of God. I was born into his family and I became a joint-heir with Christ. God indwells me now through his Holy Spirit and I am "sealed" until the day I am redeemed. I cannot become unborn no matter what I may do. This by no means implies that I have a license to sin. God will deal with me as a Father should do. My rebellion will be dealt with. I will receive chastisement, discipline, and I may be taken off the earth, but nothing I can do will ever separate me from the love of God which is in Christ Jesus. If God sent me to hell, the Holy Spirit would go with me and that cannot happen.
That is how I and SVITW and others can say confidently that we KNOW we are saved. We are not relying on our own merit or good works to be saved or to keep us saved. It is all Jesus. He is our rock and foundation, not the shifting sands of our own intentions.