Rashi on Deuteronomy 34:10/רש"י על דברים ל״ד:י׳

1אשר ידעו ה׳ פנים אל פנים WHOM THE LORD KNEW FACE TO FACE — this means: that he was familiar with Him and used to speak with Him at any time he desired, just as it is stated that Moses said, (Exodus 32:30), “And now I will ascend to the Lord”; (Numbers 9:8) “Stay and I will hear what God will command regarding you”.