By doing the little things that hopefully make God happy to look at me. Small everyday good deeds - perhaps listening to someone who is in need of a listener, giving spare change to a person in need, helping a friend, reaching out to someone I know has been lonely etc. - I think this is a really good and effective way of getting closer to Jesus by getting closer to His people. It's good to have a goal of doing something for someone at least once every day, however small the thing. Of course it's not going to be doable every day, but it's a good concept to keep in mind.
The other way I try worship God is to remind myself of His presence in common everyday moments. When I'm dressing up, queueing somewhere, driving etc. - just dedicate one thought to acknowledge that He's there with you and share the moment with Him - it's quite literally one hundredth of a second that needs to be dedicated to this but it makes a world of difference.
And of course, by reading a bit of scripture every day before bed and meditating on what I read for a while - trying to understand it from different angles, maybe reading up on cultural/historical context of what I read or other peoples opinions and interpretations - just do something to ensure it's not mindless reading. And then by prayer, of course.
These are things I consciously pay attention to every day. A checklist of sorts if you will. There are moments of spontaneous need/want to worship occasionally, especially during harder times, but I don't count that as a systematic worship.