You need to be careful BAC. There is teaching going around that wants to over emphasize the fact that we will be on earth and not in heaven. It is from the devil and has the goal of making us feel less special to God.
Lets just go with the Bible here, shall we. What does the Bible say about hell vs the Lake of fire?
Rev 20:14 Then death and
Hades were thrown into the lake of fire. This is the second death, the lake of fire.
Rev 20:15 And if anyone's name was not found written in the book of life, he was thrown into the lake of fire.
Hades/Hell is NOT the lake of fire, you can't throw hell into hell. Hades is temporary, the Lake of fire is forever.
Now lets us see what the Bible says about where Jesus (and the Father will dwell afater the millennial reign,
and the New heaven and new earth come.
Rev 21:1 Then I saw
a new heaven and a new earth; for the first heaven and the first earth passed away, and there is no longer any sea.
Rev 21:2 And I saw
the holy city, new Jerusalem, coming down out of heaven from God, made ready as a bride adorned for her husband.
Rev 21:3 And I heard a loud voice from the throne, saying, "Behold,
the tabernacle of God is among men, and He will dwell among them, and they shall be His people, and God Himself will be among them,
There is a new heaven, and a new earth, the "first" heaven and "first" earth have passed away.
Then the New Jerusalem comes down "out" of heaven. It isn't heaven, it comes down out of heaven.
This where the tabernacle of God will be.. NOT in heaven, it will come down to the earth.
Will it sit of the surface of the earth, or float above the earth, I don't know, but either way, it's not in heaven.
Men won't be in heaven with God, God will be (on/near) Earth with men. Just like the original plan in the Garden of Eden.
Rev 21:10 And he carried me away in the Spirit to a great and high mountain, and showed me the holy city,
Jerusalem, coming down out of heaven from God,
Again it says "out of heaven", not "in" heaven.
Rev 21:22 I saw no temple in it, for the Lord God the Almighty and the Lamb are its temple.
Rev 21:23 And the city has no need of the sun or of the moon to shine on it, for the glory of God has illumined it, and its lamp is the Lamb.
This is where the Lamb and God will be, not in heaven
Rev 22:3 There will no longer be any curse; and the throne of God and of the Lamb will be in it, and His bond-servants will serve Him;
Rev 22:4 they will see His face, and His name will be on their foreheads.
The throne of God and the Lamb are in the New Jerusalem, not heaven. We will see "His face", not in heaven, but in the New Jerusalem.
Rev 22:5 And there will no longer be any night; and they will not have need of the light of a lamp nor the light of the sun, because the Lord God will illumine them; and they will reign forever and ever.
This is where we will reign with God... "forever nd ever". Not heaven.
Can we go to heaven? I dont know. Can we visit there for a while? maybe? I don't know, but is that the final destination?
Not according to the Bible.