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It is my understanding, that Josh chose Closer as a CD title because, the album was "closer" to who he is as an artist than his debut CD because he started to develop his song writing skills on that album with both RWIR and Never Let Go.

Josh chose Awake because he "liked how the word made him feel" {Quote from the Making of Awake DVD}. It is my understanding that he chose the title because he felt more awake artistically on the album, because he was allowed an even greater creative input on the album, as is evident by the fact that he wrote five songs on the album.

There is a part on The Making of Awake DVD where Josh refers to each album title and talks briefly about his artistic growth throughout each album. You may want to check that out.