I have been reading and studying a lot about suffering over the last four years, due to a chronic illness. The verse you quoted is one of my favorite bible passages, and many of the Church’s saints have addressed this topic.
From my understanding, **Jesus’ suffering lacked nothing ** – it was a perfect offering. But Jesus is the Head of the Church, and we are the body. The Head has completed His part of the suffering, but since we are called to imitate Christ in all things, we must learn to offer our sufferings to God, in union with Christs’ perfect sacrifice.
When we realize that Jesus sanctified suffering and pain, and that by offering our pain to Our Heavenly Father we can bring about many graces in the lives of others, that brings a kind of joy and peace in the midst of suffering.
Archbishop Sheen once said that there is so much wasted suffering in our world. If we would just learn to offer it up to God, so much good would come of it. Mother Teresa also told her sisters that they must "Love until it hurts. It hurt Jesus to love us."
Here are just a few other Scripture passages that address suffering:
Rom. 8:17-18
Since we are His children, we will share His treasures - for all God gives to His Son Jesus is now ours, too. But if we are to share in His Glory, we must also share His Suffering.
Phil. 1:29
For to you has been given the privilege not only of trusting Him but also of suffering for Him. For He is using your sufferings to make you ready for His kingdom.
1 Tim. 4:10
…We work hard and suffer much in order that people will believe…
2 Tim. 2:12-13
And if we think that our present service for Him is hard, just remember that some day we are going to sit with Him and rule with Him. But if we give up when we suffer, and turn against Christ, then He must turn against us. Even when we are too weak to have any faith left, He remains faithful to us and will help us, for He cannot disown us who are part of Himself, and He will always carry out His promises to us.
1 Peter 4:12-13, 19
Don’t be bewildered or surprised when you go through the fiery trials ahead, for this is no strange, unusual thing that is going to happen to you. Instead, be really glad - because these trials will make you partners with Christ in His sufferings, and afterwards you will have the wonderful joy of sharing His glory in that coming day when it will be displayed.
Matt. 10:38
If you refuse to take up your cross and follow me, you are not worthy of being mine.
Heb. 12: 6, 11-13
For when He punishes you, it proves that He loves you. Being punished isn’t enjoyable while it is happening – it hurts! But afterwards we can see the result, a quiet growth in grace and character. So take a new grip with your tired hands, stand firm on your shaky legs, and mark out a straight, smooth path for your feet so that those who follow you, though weak and lame, will not fall and hurt themselves, but become strong.
Our Lord must love you much to give you so great a part in His suffering. – Mother Teresa
It is precisely when I suffer that my joy is greater. – St. Faustina
Hope this helps! God bless!