Uh, noone (but MagSec) knows what he means? I guess cause there's lots of foreigners, so they wouldn't know slang and colloquial terms (or cause most English ppl suck at their own language). Saying you're "needled" is another way of saying that you're bothered or angered by something (or annoyed).
I suppose you -could- say he's talking about actual needles. But that'd make very little sense in the context he uses... here, I'll break it down for the foreign folks who don't know enough English yet to understand what he means:
A foot away from you is like a bit closer to heaven
(he's saying that he gets a little relief from being away from the girl that the song is about)
But then again it's like being needled 24/7
(but it's a contradiction, because it bothers him so much to be away from her... a love/hate relationship, basically... some bitch that he can't stand being with and can't stand being without)