It doesn't take perfection in any virtue to decide to go directly to God.
It's merely a choice we make whether we are going to obey His commands on who to pray to or not.
Those who believe Him and trust Him and take Him at His word will go to Him in prayer, believin He Himself will answer those prayers Himself.
Those who don't trust Him, who pray in unbelief, will go to someone else to try to get from God what they don't believe He will give them Himself.