2 Chr 27:1-9 and Isa 9:1 - 12:6
King Jotham, son of Uzziah, did right in the sight of the Lord. But, unlike his father, he did not enter the temple of the Lord.
Regardless of our heart and what, and how, we want to worship, it must honor God. Our desires are sinful desires, as we are all fallen. We may 'feel' our worship is right, but it is according to our own opinions and desires. Uzziah's heart may have been right, in his own opinion, but he still disobeyed God's law regarding worship. The Bible, Old and New Testaments, are filled with great intentions, but God dealt harshly with those people.
God's does not lower his Righteouss standards because we 'feel' good about ourselves. Incense burned by our own standards is 'strange' and will be discarded by God and found not worthy.