1.   From the actions of the Bedouin Companion رَضِیَ الـلّٰـهُ عَنْهُ, we learn that he asked the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم for worldly things, and the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم did not deny him. This shows that if we have small, everyday desires and needs, we can even ask the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم for them without hesitation. There is absolutely no issue with this.

2.   We also learn that our Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم wishes for us to be close to him in Paradise. Observe how he granted the Bedouin whatever was requested, and then by narrating the story of the old woman from the Banī Isrāˈīl, encouraged us to request that which she asked for. In fact, in one narration, the Messenger of Allah صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم said, اَعَجَزْتُمْ اَنْ تَکُوْنُوْا مِثْلَ عَجُوْزِ بَنِیْ اِسْرَائِیْل “Can you not be like the old woman of the Banī Isrāˈīl?” ^[1]

In other words, the old woman of Banī Isrāˈīl asked to be close to the prophet of her nation, Mūsā عَـلَيْـهِ الـسَّـلاَم, in Paradise. Likewise, whenever opportunity to ask arises, you too should ask for nearness to your Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم in Paradise!

Actions that lead to proximity to the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم

Shaykh ꜤAbd al-Haqq al-Dīhlawī رَحْمَةُ الـلّٰـهِ عَـلَيْه said:

Merely wishing to be close to the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم in Paradise is not sufficient. One must take up the means which lead to this. This involves engaging in the best acts of worship and a host of good deeds.^[2]

When RabīꜤa al-Aslamī رَضِىَ اللّٰهُ عَـنْهُ asked to be close to the Prophet in Paradise, the Prophet صَلَّى اللهُ عَلَيْهِ وَاٰلِهٖ وَسَلَّم advised him to perform abundant