How can one remove the feeling of falling short towards Allah while adhering to acts of worship and avoiding major sins?

No matter what deeds a servant performs, they will never fulfill Allah's right, and the feeling of shortcoming remains better for them; because it motivates them to seek forgiveness, repent, fear Allah, and humble themselves before Him, all of which are great acts of worship. The Quran describes the state of the believers by saying: (Indeed, those who are apprehensive from fear of their Lord And those who believe in the signs of their Lord And those who do not associate others with their Lord And those who give what they give while their hearts are trembling that they will be returning to their Lord). The Prophet, peace and blessings be upon him, explained the last verse to mean those who fast, pray, and give charity, while fearing that their deeds might not be accepted from them. A person is in a good state as long as they feel a sense of shortcoming, as this drives them to increase in good deeds and seek forgiveness.