You miss your beloved family members who have passed away. They miss you too, but they are busy in heaven, learning and adapting to a new environment. Therefore, how should you pray for them and talk to them.
When your child is away, in college or in summer camp, for example, you don’t drone on about how much you miss them. Instead, you speak positive, you tell them to enjoy their new experience and learn from it. You send forth comforting emotions and love, allowing them to feel good in their new surroundings.
The same should be done for those who have escaped their physical body.