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Oh, how very much more simple it would have been if God had immediately created us humans to be in Heaven, without all of the trials, temptations, and decisions we must make here on Earth. And of course the biggest decision we all must make is to desire to be with Christ forever, so we can be with Him in Heaven. As simple as the answer might sound, God simply wanted to surround Himself with people who freely chose to be with Him. And that decision must be made here on Earth. Of course, we must appreciate that originally Adam & Eve were created in Paradise. But then what happened? They sinned. And since God can not tolerate Sin, He removed them from Paradise, but God did not remove Himself from their presence. And so it has been ever since: the decision to follow God or the decision to "do it my way". May we all choose wisely. John 3:16-18 clearly tells us the consequences of making the right decision versus the wrong decision. And Matt 7:7-8 tells us that God is always willing to help us; all we need to do is ask Him.
This is a difficult question to answer because we do not have the benefit of any information why God chose to create man on earth rather than in heaven. Some argue that man could not have lived in heaven in his human flesh because scripture declares that flesh and blood cannot inherit the Kingdom of God. However we note that man was created perfect and lost his immortality after the fall (Genesis 3). God had his higher purposes in creating man to take dominion over His creation just as he created angels to serve Him. Some teachers proclaim that God has given man full authority and dominion over the earth and depict an absent God who left "all the keys" with man. This teaching is unbiblical because God has not abandoned the earth to man. He retains His sovereignty (Psalm 24:1; 50:10). Why God choose not to create a spirit man just like the angels in heaven is a matter that rests inn his divine and higher purposes that he has not revealed to us. This does not imply that he was incapable of doing so. God in his divine and infinite wisdom chose to place man on earth but this did not limit His fellowship and interaction with him (Genesis 3:8-9). Satan too was created a perfect being and he ministered before God before he developed pride and wanted to overthrow God. He was thrown down to earth with his fallen angels. God had a redemption plan for man in that even after the fall, he made provision for atonement through Christ so that those who are in Him enjoy the fullness of His divine grace. So we need not worry about being on earth if we are in Christ.
Heaven is a place where "spirit bodies/beings" can live, like God and angelic beings. Humans, being flesh, can not survive there. Our composition is limited. Earth is needed for us to live, grow and develop. Much like having a "uterus" where a zygote(fertilized egg) can survive before coming out of the womb after generally 9 months and live. We need "time for every season"Eccl. 3:1-8 Similarly, humans need time on earth to develop and receive the Holy Spirit for "spiritual development", before being "changed in a twinkling of an eye"(I Cor. 15:52), becoming "spirit-composed bodies" at resurrection.
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