When we hear about Krishna with the desire to remember Him, and to become more engaged in His service, a hankering awakens within our hearts for His association and the association of devotees, who help us remember Him. Hankering for the association of Krishna and His devotees purifies our heart. It is this kind of hankering that sadhana-bhakti is meant to generate. Hankering for Krishna has nothing to do with the senses. Rather, devotional hankering is spiritual - that is, it is experienced by the soul. The mundane senses cannot touch it.
Lectures from a Disciple, Vol. 2, The Process for Awakening Bhakti