In layman's terms....
Ok, without spouting a bunch of scripture, here's my beliefs....
When you die you are judged. If you did the best you could as being righteous, believed Jesus died for the sins you could not control, the sins you did not know you were committing, and had faith in the love God has for you, you go to heaven to learn what you missed on earth. In heaven there is a mansion with many rooms that people called apostles teach in, there they are called priests and Kings. When all are taken up, and the earth is cleansed from wickedness, and all the wicked people and things are destroyed we are then put back on earth. This will be the new earth, only those people wanting to be under God's laws and not run by people, organizations, governments and so on. The same law Adam and Eve were given to start out with.
If you don't care what God thinks of what you do, if you do only what you want and go rebel against what is taught in the bible, then you die, are judged for the worst, and remain here until God destroys you. You roam the earth invisible, visible to only those who are going the same way you are. Some see these ones as ghosts. But really they are in a state that is the same hell as a dungeon. Stuck, chained, and you wait. I think there is also a hope for these ones too since God is so loving. If you don't want to be a poltergiest, or wicked evil ghost, but to help someone not to go in the same direction, you will be spared. But not until the last day before the earth is cleansed. We all chose what road we want to walk.
As Jesus ascended into heaven, he was in a body that we could see, we could touch, but he could "appear" anywhere at anytime. It says somewhere that we too will have this same body, a new body.
If I'm wrong, I lose nothing, if I'm right, I gain everlasting life!