Thomas Brooks emphasizes the power of crying out to God in prayer, illustrating how a child's cries can lead to affection and support. He highlights that true prayer is not measured by its length or eloquence, but by the fervency and sincerity of the heart. Brooks encourages believers to approach God with earnest cries, assuring them that their heartfelt prayers reach the heavens and invoke God's response. He cites Psalm 18:6 to affirm that God hears our cries and answers us in our distress.