Psalm 86 has a lot of attributes of God. He is forgiving, good. He abounds in love, he listens to our cries and he answers us. There is no other gods like him. No one can do the things he does. All he created will worship him. Who else can we say these things about? No one!
The author then goes on and asks God to teach him so they can rely on God's faithfulness. They want a heart that is undivisable, in unity with God. They want to praise God's name forever because God has saved them from death. What a wonderful God.
You can make this psalm so personal. I want to rely on god's faithfulness. I want a heart that is undivided. I want to praise God's name forever because he has saved me from certain death. Praise God!