Here is what the catechism teaches us on the matter. It is the culmination of almost 2,000 years worth of revelation, insight and inspiration on the subject:
2548 Desire for true happiness frees man from his immoderate attachment to the goods of this world so that he can find his fulfillment in the vision and beatitude of God. "The promise [of seeing God] surpasses all beatitude. . . . In Scripture, to see is to possess. . . . Whoever sees God has obtained all the goods of which he can conceive."344
2549 It remains for the holy people to struggle, with grace from on high, to obtain the good things God promises. In order to possess and contemplate God, Christ’s faithful mortify their cravings and, with the grace of God, prevail over the seductions of pleasure and power.
2550 On this way of perfection, the Spirit and the Bride call whoever hears them345 to perfect communion with God:
There will true glory be, where no one will be praised by mistake or flattery; true honor will not be refused to the worthy, nor granted to the unworthy; likewise, no one unworthy will pretend to be worthy, where only those who are worthy will be admitted. There true peace will reign, where no one will experience opposition either from self or others. God himself will be virtue’s reward; he gives virtue and has promised to give himself as the best and greatest reward that could exist. . . . "I shall be their God and they will be my people. . . . " This is also the meaning of the Apostle’s words: “So that God may be all in all.” God himself will be the goal of our desires; we shall contemplate him without end, love him without surfeit, praise him without weariness. This gift, this state, this act, like eternal life itself, will assuredly be common to all.346
IN BRIEF
2551 “Where your treasure is, there will your heart be also” (Mt 6:21).
2552 The tenth commandment forbids avarice arising from a passion for riches and their attendant power.
2553 Envy is sadness at the sight of another’s goods and the immoderate desire to have them for oneself. It is a capital sin.
2554 The baptized person combats envy through good-will, humility, and abandonment to the providence of God.
2555 Christ’s faithful “have crucified the flesh with its passions and desires” (Gal 5:24); they are led by the Spirit and follow his desires.
2556 Detachment from riches is necessary for entering the Kingdom of heaven. “Blessed are the poor in spirit.”
2557 “I want to see God” expresses the true desire of man. Thirst for God is quenched by the water of eternal life (cf. Jn 4:14).
Sources listed:
344 St. Gregory of Nyssa, De beatitudinibus 6

G 44,1265A.
345 Cf. Rev 22:17.
346 St. Augustine, De civ. Dei, 22,30

L 41,801-802; cf. Lev 26:12; cf. 1 Cor 15:28.
Since, through the fall from grace at Eden, sin and death entered the world, neither will exist in heaven. Since God is our origin and our end, we will be completely fulfilled only by standing in His presence. However, there is much more that remains a mystery than what has been revealed. Faith and hope bridge the gap for faithful Christians.