The wording mentioned in the question was not soundly narrated from the Prophet (blessings and peace of Allah be upon him), and there is no sound report from him to suggest that it is not allowed to offer supplication for what is good in this world, so it is not correct to say that praying for what is good in this world will bring worries and stress. Rather what has been narrated is a warning against being distracted by worldly concerns from the hereafter, or seeking worldly gains in ways that are not permissible.

You can increase Taqwa by: • Reflecting on the matter of this world and the hereafter and understanding the value of each of them • Striving to obey Allah and do righteous deeds • Fasting a great deal • Striving to acquire the characteristics of the righteous who fear Allah • Adhering to the guidance and teachings of the Prophet • Keeping away from what Allah has prohibited • Reflecting on the verses of Allah and His signs in the universe • Remembering Allah a great deal and reciting Quran • Keeping company with good people • Reading biographies of those who feared Allah among the righteous believers.

What is required of the Muslim is not to despair of mercy and not to feel safe from punishment; rather they should be in a state between hope and fear, because Allah has condemned those who feel safe from punishment and has condemned those who despair of His mercy.