If we don't know in the depths of our being that God calls us "beloved," we need to. And if we do know it, and it hasn't set us on fire, then we don't know it well enough. Take time daily to be alone and silent before God. And an awareness of your utter belovedness will become a reality for you.
True friendship exists when human beings share a love of goodness and truth. Two friends alone, like two legs on a table, offer a wobbly situation at best. But two friends anchored to a third, spiritual center form a rock-solid foundation to support everything that comes: hardship, suffering, exaltation, love. True friendship between two human beings exists only when there is a third Friend present: call this third friend God, or simply the Sacred.