Does God control my thoughts and actions?
God knows what your future thoughts and actions are but does not control your thoughts and actions.
Knowing doesn't equal Controlling.
Suppose, I recorded a game and find out who wins before I get to watch the recorded game. Just because I know the future of who will win, it doesn’t mean that I am in control.
Should I pray?
If you want Him to do something for you, just ask Him. Talking to Him is called prayer. He is waiting to hear from you...
“…The prayer of a righteous person is powerful and effective.”