It is possible to know God in a personal way, just as Moses and the disciples.
What set Moses and the disciples apart? They were not at all perfect people, but compared to others they were sincere and trusted in God and His commands.
It is possible for me, and for my house, to know God in a personal way. To be able to talk, just as with a friend. God has given His invitation, by providing the Way. My part is to respond, just as Moses did, “show me your ways, let Your presence go with me as I go and, if I have found favor in your eyes, please, show me your glory.”