The best way to learn...
is to just keep playing.

It may take a while, but you will develop your ear. And play along with your favorite records; try to figure out the notes on those favorite songs of yours. And then worry about the theory behind it all. It will make more sense when you can hear it.

And remember, music is all patterns; all math (but in a good way). If it makes sense on the fretboard, visually, then it will also make sense sonically.