Yes, you may pray and speak your feelings with devotion.

But in Digambar Jainism, God is not a creator who grants wishes. Prayer is mainly for bhavna, peace, and purification of the soul. So your voice can be offered in devotion, but the result depends on karma and right conduct, not on a God “listening” and giving answers like a worldly being.

If your heart feels “I don’t want to be separated from my mom ever again,” you can pray with that feeling. Jain dharma teaches compassion, attachment in right measure, and inner steadiness.