Jesus expresses his longing for us in what is called His high priestly prayer. He prays:

“Father, I want those you have given me to be with me where I am, and to see my glory, the glory you have given me because you loved me before the creation of the world.”

Here’s how Peter Kreeft describes it in his book Heaven: The Heart’s Deepest Longing:

All of us will know glory flat in the face when we die. We shall be hailed by the Angel of death with the same lightsome glory with which Mary was hailed by the angel of life, because Christ has made death into life’s golden chariot sent to fetch his Cinderella bride out of the cinders of this fireplace of the world through a far midnight ride to his very own castle and bedchamber, where glory will beget glory upon us forever.