Śrīla Jīva Gosvāmī writes in his Prīti Sandarbha that, along with a desire to please the deity, there is also a natural desire to have an intimate relationship with Him and to attain Him.

The devotee who is fixed in smaraṇa attains direct association with his chosen deity within his mind.
Just as the devotees have discussions with Each other in this world, so do the girlfriends and maidservants of Śrī Rādhā have them in the spiritual world!
upa means ‘close by’ and upāsana means: sitting close by.
The practising devotee can stay close by them (the sakhīs and mañjarīs) in his spiritual body (siddha deha) by constantly practising smaraṇa.

This is beautiful sāsaṅga bhajana, devotion with spiritual attachment.

tika to Sri Sri Radha Rasa Sudhanidhi, verse 18