In heaven, yes, but did they enter into the glorious presence of God? You and I have no way of knowing - but even if evil angels through some forbearance of God were granted safe access to His glorious presence,
it is clear from Scripture that no such provision can be claimed by mankind:
1. God Himself declares no man (obviously means "no sinner") can see His face and live (Exodus 33:20).
2. Manoah said he and his wife will die for having seen God, though His glory was hidden (Judges 13:22).
3. Although Isaiah only saw Jesus in vision, not reality, he feared greatly for his life (Isaiah 6:5).
4. Jacob rejoiced that he didn't die after wrestling with God, though His glory was hidden (Genesis 32:30).
5. 1 Timothy 6:16).
6. The "brightness of His coming" destroys "Man of Sin" (1 Thess. 2:8).
7. Paul says no man has seen or can see God's unapproachable glory (1 Tim. 6:16).
8. Although John only saw Jesus in vision, not reality, he fell down as dead (Revelation 1:17).
9. The glory of a single angel left Roman soldiers as dead men - how much more God's glory (Matthew 28:4).
10. Ezekiel, Daniel, Paul - everyone single one in Scripture that saw God's glory merely by prophetic vision alone, and not reality, speaks of great fear for their lives.
What you are proposing - that sinners will safely exist in the glorious presence of God and serve Him during His 1,000 year reign over them - not only lacks Biblical precedent, but is in complete opposition to established Biblical precedent.
His glory was kept behind the veil of the temple, only once a year did a man enter therein - with ropes attached to his feet because if he entered with unconfessed sin on his record, his carcass had to be dragged out from under the veil by other waiting priests.
How did you conclude this? The "rule all nations with a rod of iron" is interpreted in Psalm 2 as "breaking" and "dashing to pieces" the nations - which takes place at the Second Coming. Remember the Stone that strikes the image of Daniel 2?
The "few men left" are the righteous that survive the destruction of the wicked.
- "...narrow is the way that leadeth unto life and few there by that find it."
- "...many shall seek to enter in, and not be able."
- "For many are called but few are chosen."
- "...while the ark was a preparing, wherein few, that is, eight souls were saved by water."
- "Fear not, little flock..."