Feedback please.

I really don't know how many people read this blog but I have a question and I would like some feedback of what you guys think and what the Lord has taught you. Ok, first some background. I have been reading in Exodus and through the specifications of the Tabernacle that the Lord gives to Moses. The Lord goes through all of these specs, gold on this and bronze on that and this garment is to look like this, and so forth. Anyway, after all of this is built and really to be used, Aaron and his sons are to be the priets and to make sacrifices to the Lord and to minister to Him. Now the last one is the one that I have a question about.
What does it mean to minister to the Lord? How is that different that serving Him, if it is at all?
From what I know, or think I know, I feel like ministering to the Lord is a part of prayer where we are listening to God and His concerns and heart on things. Now that may sound like that downgrades God to our level, but I do not mean it like that, and I do believe that our relationship with God consists of not only us being servants and children of God but also His friends. Not that He needs friends but wants them. And a friendship consists of a two-way relationship. Jesus was not only the Rabbi and John the disciple, but they were friends and hung out and shared there hearts, thoughts, and concerns.
Now is that what ministering to the Lord is, I have no idea, but that is where you guys and your experience come in. Please leave your thoughts.
May our relationship with Jesus become more and more intimate everyday. Thanks.