You have made us for yourself, and our heart is restless until it rests in you. (Chapter 2, quoting Augustine)
Father Knows Best. That was the name of an old TV show. It was back in the days of "Leave It to Beaver," "Lassie," and "My Three Sons." Before it was a TV show, it was a radio show. The premise being that as silly things happen in life, as they sometimes do, especially when we stray from the advice of a wise and loving Father, when it ultimately winds up is with the truth that Father Knows Best.
The thought that God made us for himself is amazing. Being God, He could have created more angels, or a new being that was superior to the angels. Oh, wait, he did. But not in the way that we would have done it. We would have created perfect beings that could not sin, that were more powerful. Instead, He created us without wings, and harps if you choose to believe that. He created us with the ability to fall, and now we live in a fallen world. But I believe that Father does know best.
He has given us a heart for Him. He has build worship into us. Don't believe it? Then how do you explain all of those die-hard Cub fans? How do you explain all of the many other sill things that we chase after, knowing that in the end it all ends in death? How can we escape such pursuits? Only as we rest in the knowledge of faith in God.
Jesus came that we might have life, and have it to the full. He said that we can rest in Him. Rest, because He has accomplished for us what we could not ever accomplish for ourselves. Rest because we do not have to earn His grace, we just need to respond to it. I can rest in Him and praise Him, knowing that it was for this that I was created. And what could make a person feel better?