One day he (Prophet Muhammad) took Mu’adh ibn Jabal (radiAllahu anhu) by the hand and said:
‘O Mu’adh, by Allah I love you, and I advise you, O Mu’adh, never forget to recite (this dua), after every prayer (the above).’
اللَّهُمَّ أَعِنِّيْ عَلَى ذِكْرِكَ وَشُكْرِكَ وَحُسْنِ عِبَادَتِكَ
Allahumma a’inni ‘ala dhikrika wa shukrika wa husni ‘ibadatika
O Allah! Assist me in remembering You, in thanking You, and in worshipping You in the best of manners.
[Sahih Ahmad 5:245, Sahih abu Dawud 2:86, an-Nasa’i].