Did the Messenger (peace and blessings of Allaah be upon him) pray for the Muslims who did not see him?

Firstly: 

The noble Messenger Muhammad (peace and blessings of
Allaah be upon him) was the most merciful and kindest of people, who loved
good for them and was keen for them to be happy and prosper. We will never
find anything more true than the words of Allaah which speak of that
(interpretation of the meaning): 

“Verily, there has come unto you a Messenger (Muhammad
صلى الله عليه وسلم) from amongst
yourselves. It grieves him that you should receive any injury or difficulty.
He (Muhammad صلى الله عليه وسلم) is
anxious over you; for the believers (he صلى
الله عليه وسلم is) full of pity, kind, and merciful”

[al-Tawbah 9:128]

He loved his ummah a great deal, and was very concerned about
their salvation on the Day of Resurrection, hoping that Allaah would honour
them with His Paradise. He would weep because of the depth of his fear for
them and his compassion towards them. 

It was narrated that ‘Abd-Allaah ibn ‘Amr ibn al-‘Aas (may
Allaah be pleased with him) said: 

The Prophet (peace and blessings of Allaah be upon him)
recited the verse about Ibraaheem (peace be upon him),
“O my Lord! They have indeed led astray many among mankind.
But whoso follows me, he verily, is of me” [Ibraaheem 14:36],
and the verse in which ‘Eesa said, “If You punish them, they are Your
slaves, and if You forgive them, verily, You, only You, are the All‑Mighty,
the All‑Wise” [al-Maa’idah 5:118]. Then he raised his hands and said: “O
Allaah, my ummah, my ummah.” Allaah, may He be glorified and exalted, said:
“O Jibreel, go to Muhammad, although your Lord knows best, and ask him why
he is weeping.” So Jibreel (peace be upon him) went to him and asked him,
and the Messenger of Allaah (peace and blessings of Allaah be upon him)
told him what he said, although He knows best. Allaah said: “O Jibreel, go
to Muhammad and say: “I will make you pleased concerning your ummah and not
displeased.” 

Narrated by Muslim (202). 

This hadeeth includes a number of things that we learn from
it, such as: the Prophet’s complete compassion towards his ummah; his
concern about their interests and his care for them; the great glad tidings
for this ummah – may Allaah increase it in honour – of what Allaah has
promised it, as He said: “I will make you pleased concerning your ummah and
not displeased.” This hadeeth represents one of the greatest hopes for this
ummah. End quote. 

The Prophet (peace and blessings of Allaah be upon him)
prayed for all of his ummah, and he sought the help of Allaah, praying that
He would make it a nation that would be honoured and shown mercy, until
Allaah answered his prayer and said that half of the people of Paradise, or
more, would be from his ummah, and they would be blessed with his
intercession on the Day of Resurrection. 

Secondly: 

One sign of his compassion and love towards his ummah was
that he prayed for more blessing and goodness especially for those who
believed in him and followed him without seeing him.  

It was narrated from Anas ibn Maalik (may Allaah be pleased
with him) that the Messenger of Allaah (peace and blessings of Allaah
be upon him) said: 

“Glad tidings to the one who believed in me and saw me, and
sevenfold glad tidings to the one who believed in me but did not see me.” 

Narrated by Ahmad in al-Musnad (3/155). The scholars
said: it is hasan li ghayrihi (hasan because of corroborating evidence). It
was classed as saheeh by al-Albaani in al-Silsilah al-Saheehah
(1241), A similar hadeeth was narrated from a number of the Sahaabah.   

Al-Nawawi (may Allaah have mercy on him) said in Sharh
Muslim (2/176): 

With regard to the meaning of glad tidings (tooba): the
mufassireen differed concerning the meaning of the words of Allaah
“Tooba (all kinds of happiness or name of a tree in
Paradise) is for them and a beautiful place of (final) return” [al-Ra’d
13:29]. 

It was narrated from Ibn ‘Abbaas (may Allaah be pleased with
him) that what it means is joy and delight. ‘Ikrimah said: Joy that will be
theirs. Al-Dahhaak said: Bliss that will be theirs. Qataadah said: Goodness
that will be theirs. It was also narrated from Qataadah that it means that
they will attain goodness. Ibraaheem said: Goodness and honour that will be
theirs. Ibn ‘Ajlaan said: Eternal goodness. And it was said: Paradise, or a
tree in Paradise. All of these meanings may be applied to the hadeeth. And
Allaah knows best. End quote. 

Then the Prophet (peace and blessings of Allaah be upon
him) gave glad tidings to the believers who came after him and did not see
him, that they would see him at the Cistern (al-hawd): 

It was narrated from Abu Hurayrah (may Allaah be pleased with
him) that the Messenger of Allaah (peace and blessings of Allaah be
upon him) went out to the graveyard and said: 

“Peace be upon the abode of believing people, and if Allaah
wills we will join you soon. Would that I could see our brothers.” They
said: Are we not your brothers, O Messenger of Allaah? He said: “You are my
companions. Our brothers are those who have not come yet. I will reach the
Cistern before them.” They said: O Messenger of Allaah, how will you
recognize those of your ummah who came after you? He said: “Do you not see
that if a man has a horse that has a white blaze and white feet among horses
that are all black, will he not recognize his horse?” They said: Of course.
He said: “They will come to me with bright faces and limbs (like the white
markings of a horse) because of the traces of wudoo’, and I will reach the
Cistern before them.” 

Narrated by Muslim (249), al-Nasaa’i (150), and this is his
version. See also al-Silsilah al-Saheehah (2888). 

Whoever wants to attain this virtue must adhere to the
guidance of the Prophet (peace and blessings of Allaah be upon him) and
adhere to his Sunnah, so that he may win his companionship in Paradise. 

We ask Allaah to honour us and you with that, by His grace,
for He is the Most Generous and Most Kind. 

And Allaah knows best.