The Prophet of Allah, sallallaahu ‘alayhi wa sallam, would never prevent them from sitting with him

“Since I became Muslim, the Messenger of Allah, sallallaahu ‘alayhi wa sallam, never forbade me from sitting with him privately or from entering his home, and anytime he, sallallaahu ‘alayhi wa sallam, saw me, he smiled in my face. I complained to him once that I cannot remain firm and upright on a horse, so he, sallallaahu ‘alayhi wa sallam, struck my chest and said: ‘O Allah, make him firm and make him a rightly guided person who also guides others.’”