Seeking Clarity in Dua

Sometimes I feel anxious because I struggle to find the right words during dua, and it makes me feel like I'm not doing it properly. I try to comfort myself by remembering that Allah (SWT) already knows what is in my heart, even if I can't articulate it perfectly. So I often make dua with simple, heartfelt words. I'm wondering, is this approach acceptable, or should I always try to express myself clearly and in detail?