No doubt about it. The Lord hears His people when called on by them for help.
Read: Psalms 34:15-17
The eyes of the Lord watch over those who do right;
his ears are open to their cries for help.
16 But the Lord turns his face against those who do evil;
he will erase their memory from the earth.
17 The Lord hears his people when they call to him for help.
He rescues them from all their troubles.