Zen clergy and lay followers do recite some sayings as prayer.
They recite the Avalokitesvara Sutra (Avalokitesvara = a certain bodhisattva). They can pray or communicate with bodhisattvas at the butsudan, or altar.
In Zen doctrine, the Buddha teaches against discriminating between dharma and no-dharma in the Diamond Sutra because if we become attached to the idea of dharma, then our ego is still grasping to something.