How can one draw closer to Allah and know His love, and what is the way to get rid of the whispers that plague the worshiper?

Ignore the whispers (waswas) and fantasies that do not harm your faith, and continue with your worship. Be repentant, for Allah loves the repentant and accepts their sincere repentance. Safeguard the obligatory prayers and increase the supererogatory ones to attain Allah's love. Strive in supplication and keep company with righteous women, and acquire religious knowledge to know what should be done and what should be left.