I propose a health bar UI be instituted for healer warlocks, because without it you are just kind of guessing which team mate needs help. Some sort of system where you can gauge who needs healing and who doesn't.
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Players don’t really need healings though, this is not overwatch. What I do is throw the over-shield grenade directly at an enemy since I know my team is getting up close and personal anyways. In pve I at least don’t have much trouble healing players. I don’t focus too much on healing either, I plant my rifts, I toss over-shield grenades in the most crowded areas and I kill stuff. Knowing their health bars is not really needed since they can heal themselves anyways