Jesus Didn't seem to think so. Remember in mat 6 He says 'do not pray like the hypocrites do.' (Publicly)
His remedy wasn't to have us search ourselves, and if we had pure intentions we could pray in public. No, His fix for this problem was to tell everyone to take themselves out of the public space and to go into their room/closet close the door and pray to your Father in private.
Then your Father seeing what you have done in private will openly reward you publicly.
Again, No where is a path given to pray to God publicly.
Not only that in chapter 6, Jesus also tells us to Fast and give to the poor in secrete. Why would He in chapter 6's over lapping message to do your works in secrete, then change this message for those who want to pray openly? Doesn't it make more sense to keep the whole 'pray, give and fast in secrete' a consistent message, rather than teach give, and fast in secrete, but pray in public/let everyone know who and what you are praying for, so long as you check the condition of your heart first?
So why didn't Jesus say, if your heart is pure stay and pray publicly? Why did He command that all still go to their room and pray in secrete?
So Praying in earnest means nothing if your ideologies are false?
If this is the case then why would praying to Jesus means something, if Jesus is on record saying if you pray this way, you have all the reward you are ever going to get? But if you pray in secrete, Your Father will reward you publicly?