God will come and rule this earth for a thousand years then it will become an actual glorified heaven for all people who ever lived here after the final armageddon.
Matthew 5:5
5 Blessed are the meek: for they shall inherit the earth.
Revelation CHAPTER 21
1 AND I saw a new heaven and a new earth: for the first heaven and the first earth were passed away; and there was no more sea.
2 And I John saw the holy city, new Jerusalem, coming down from God out of heaven, prepared as a bride adorned for her husband.
3 And I heard a great voice out of heaven saying, Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God.
4 And God shall wipe away all tears from their eyes; and there shall be no more death, neither sorrow, nor crying, neither shall there be any more pain: for the former things are passed away.
5 And he that sat upon the throne said, Behold, I make all things new. And he said unto me, Write: for these words are true and faithful
In the meantime we can create a mini version of heaven here on earth by creating places where the commandments are kept and families thrive (ie our homes.)
Heaven is currently still the place we came from (God's home)
John 6:38
38 For I came down from heaven, not to do mine own will, but the will of him that sent me.
Genesis 2:4 - 5
4 ΒΆ These are the generations of the heavens and of the earth when they were created, in the day that the LORD God made the earth and the heavens,
5 And every plant of the field before it was in the earth, and every herb of the field before it grew: for the LORD God had not caused it to rain upon the earth, and there was not a man to till the ground.
.. and some reside there already awaiting the resurrection however most who have lived and died are still here as spirits - there is a divide between the phsical earth and paradise and the spiritual prison.
Luke 23:42 - 43
42 And he said unto Jesus, Lord, remember me when thou comest into thy kingdom.
43 And Jesus said unto him, Verily I say unto thee, To day shalt thou be with me in paradise.
John 20:17
17 Jesus saith unto her, Touch me not; for I am not yet ascended to my Father: but go to my brethren, and say unto them, I ascend unto my Father, and your Father; and to my God, and your God
1 Peter 3:18 - 19
18 For Christ also hath once suffered for sins, the just for the unjust, that he might bring us to God, being put to death in the flesh, but quickened by the Spirit:
19 By which also he went and preached unto the spirits in prison;