The purpose of Jesus' coming to the earth was to bring Heaven's experience to earth. The wholeness and health of Heaven was to come to you. The rule of God, the Lordship of Jesus Christ in Heaven was intended to be an experience, not just in Heaven after death, but of life right here on earth.
That is why, when the disciples asked Jesus to teach them to pray, He taught them to say, "Thy Kingdom come. Thy will be done, on earth as it is in Heaven." As God's will was always being performed in Heaven, His plan was, and still is, for His will to be fulfilled in your heart. Union and wholeness are available in the Person of God Himself in this life. In fact, they are not only available, they are God's intention for humanity.
Jesus did not come just so you could go to Heaven. He did not come only to offer a future hope. Jesus did not even come merely to answer meager prayers for help and safety. He came so that you might experience the fulness of God, all Heaven has to offer. His Kingdom is to be established in the earth...starting within you.