In this verse, the author states that he loves God because he has listened to his pleas.

Strictly speaking, it does not say that the author loves the Lord because he helped him; it says that the author loves (without an object), and then it says, for the Lord heard. The love for the Lord is the starting point, and this love gets an extra impulse due to the help of the Lord.

The meaning of the word because fits in with this understanding. This word in Hebrew indicates not just a logical connection between two sentences but also highlights the preceding part. As a somewhat descriptive translation, you would get the following: I am confirmed in my love (for the Lord); see how the Lord heard my pleas.