Once the Kingdom was established in the heavens, there was no point in Jesus taking his disciples to heaven if he was just going to bring them back to the earth. NO. His kingdom rules from heaven over earthly subjects. Jesus went back to heaven to prepare a place for his elect.....that is where they will dwell forever. They do not have to be on earth to do that.
Souls go to heaven now, to be with Jesus per 2 Corinthians 5, as seen in heaven by John.
John the revelator was caught up into heaven, and saw SOULS there.
Rev 6:9 And when he had opened the fifth seal, I saw under the altar the SOULS of them that were slain for the word of God, and for the testimony which they held:
In Thessalonians 4, Jesus comes to raise the dead bodies of the saints and reunite them with the souls He brings with Him from heaven.
Yes, when He returns for those bodies to raise from the dead, He at the same time brings the saints WITH HIM from heaven.
1Th 4:13 But I would not have you to be ignorant, brethren, concerning them which are asleep, that ye sorrow not, even as others which have no hope.
1Th 4:14 For if we believe that Jesus died and rose again,
even so them also which sleep in Jesus will God BRING WITH HIM.
1Th 4:15 For this we say unto you by the word of the Lord, that we which are alive and remain unto the coming of the Lord shall not prevent them which are asleep.
1Th 4:16 For the Lord himself shall descend from heaven with a shout, with the voice of the archangel, and with the trump of God: and the DEAD in Christ shall RISE first:
1Th 4:17 Then we which are alive and remain shall be caught up together with them in the clouds, to meet the Lord in the air: and so shall we ever be with the Lord.
So you are mistaken.
You also have it wrong about the kingdom.
There are tons of old testament and New Testament prophecies that Jesus will reign on earth forever from Jerusalem on the eternal throne of King David.
From the time Jesus returns to Mount Olive in Zechariah 14:5, from where He ascended in Acts 1, He stays in that city forever, says Zechariah 14:16-21, and in revelation 21 the city New Jerusalem comes down from heaven and God and Jesus dwell there with His people forever.
This has to be a literal city on earth since Jesus dwells in it, and since He reigns on earth forever.
Isa 9:6 For unto us a child is born, unto us a son is given: and the government shall be upon his shoulder: and his name shall be called Wonderful, Counsellor, The mighty God, The everlasting Father, The Prince of Peace.
Isa 9:7 Of the increase of his government and peace there shall be no end,
upon the throne of David, and upon his kingdom, to order it, and to establish it with judgment and with justice from henceforth even for ever. The zeal of the LORD of hosts will perform this.
Luk 1:31 And, behold, thou shalt conceive in thy womb, and bring forth a son, and shalt call his name JESUS.
Luk 1:32 He shall be great, and shall be called the Son of the Highest: and
the Lord God shall give unto him the throne of his father David:
Luk 1:33 And he shall reign over the house of Jacob for ever; and of his kingdom there shall be no end.
Jeremiah 23:5-6 “Behold, the days are coming, says the Lord,
that I will raise to David a Branch of righteousness; a King shall reign and prosper, and execute judgment and righteousness in the earth. In His days Judah will be saved, and Israel will dwell safely; now this is His name by which He will be called: THE LORD OUR RIGHTEOUSNESS”
Zep 3:14 Sing aloud, O daughter of Zion; shout, O Israel! Rejoice and exult with all your heart, O daughter of Jerusalem!
Zep 3:15 The LORD has taken away the judgments against you; he has cleared away your enemies.
The King of Israel, the LORD, is in your midst; you shall never again fear evil.
Zep 3:16 On that day it shall be said to Jerusalem: “Fear not, O Zion; let not your hands grow weak.
Zep 3:17 The LORD your God is in your midst, a mighty one who will save; he will rejoice over you with gladness; he will quiet you by his love; he will exult over you with loud singing.