You can do many things to get closer to a satan. But you do not have to give him your soul for you both to be closer.
You can make an altar dedicated to Satan. You can also make a dream pillow for him and see if he would want to connect with you through your dreams. And also by praying to him and talking to him. Overall, doing these and many others thing can help you become closer with satan and have a more connected relationship.
You cannot give your soul, nor can it be taken, it's a Hollywood and Christian myth that people still believe. In order to get closer to Satan I would recommend doing some research first regarding aspects of Satan, what he is seen as by many religions along with the difference between Satan and Lucifer. Knowledge will likely improve the results of attempts to build a relationship with Satan, it shows in a sense that you are dedicated.
Next, you will want to reach out to him. Prior to doing this I strongly suggest that you have some experience in the areas of demon and spirit work. Note that you do not need to summon him, but rather establish a link so that you may communicate. Research the difference between evocation and invocation and what demons prefer. considering that your goal is to connect with Satan it is in your best interest not to irritate him. Also make sure that your perception of demons does not involve seeing them as inherently evil, it is a sure-fire way to make the demon lose interest in you.
Once you have established a connection it is important to treat him with respect, however do not be a pushover. Be firm but do not be rude. state your wishes but do not be arrogant. this is a very important part of demon work. demons are like any other deity and should be regarded with respect as such. After this, if Satan does decide to build a connection with you, each day pray to him and honor him and work together on building the relationship. it will take time.