That's all I think that he wants. A personal relationship with everyone that would have it. He will not enter a defiled temple, though so we must try our best to keep them clean (our bodies). He even offers to help through repentance! God sent his Son Jesus to be perfect and fulfill the law. He has really only continually made it easier for his people and after the Second Coming it will be easier than ever before. Man continually mucks it up though in order to get control over other man. (these might not be men, demons!)