He calls to every one of us, each in our own way.
According to a Midrashic source, His Divine Presence sometimes finds it has to move away from man. Human sin leads Him to move up into the first of the seven heavens, and from there into the second, the third, and even further away from the earth. What brings Him back is human righteousness.
His message is tantamount to saying, “I yearn to return to you. Open a door by your deeds; make Me feel welcome in your midst.”
As He calls to Moses to ascend the mountain, so He calls to us to elevate ourselves morally and bring him down to be with us.