There is but a very imperfect union with God to be had in this world

—A very imperfect knowledge of him in the midst of much darkness; a very imperfect conformity to God, mingled with abundance of estrangement.

Here we can serve and glorify God but in a very imperfect manner; our service being mingled with sin, which dishonours God.

But when we get to heaven (if ever that be), we shall be brought to a perfect union with God, and have more clear views of him. There we shall be fully conformed to God, without any remaining sin; for “we shall see him as he is.” There we shall serve God perfectly; and glorify him in an exalted manner, even to the utmost of the powers and capacity of our nature. Then we shall perfectly give up ourselves to God; our hearts will be pure and holy offerings, presented in a flame of divine love.

—Jonathan Edwards
The Works of Jonathan Edwards, 2:244.