The only way to develop a personal relationship with a saint is to develop a relationship with your own innermost being (also called Self). Remember, the same saint also lives inside you. The saint (also called guru) and the Self are one and the same.
How to develop a relationship with your own innermost being? Meditate on the Self. It is through your breath awareness that you can reach the innermost being. Start watching your breathing — the breath coming in and the breath going out. If you go on practicing this breath awareness, suddenly you will experience the gap in which there is no breath — absolute stillness. Stay in that experience of who you truly are.