Yes, that is the gist of it.
God is not lonely or bored, these are human emotions. The motivation for God to bother with us was God's love for us.
3: O SON OF MAN! Veiled in My immemorial being and in the ancient eternity of My essence, I knew My love for thee; therefore I created thee, have engraved on thee Mine image and revealed to thee My beauty.
4: O SON OF MAN! I loved thy creation, hence I created thee. Wherefore, do thou love Me, that I may name thy name and fill thy soul with the spirit of life.
God wants what is best for us because God loves us. This is good for humans since God alone knows what is best for humans and gives it to us..
Everything that God does is only for human benefit, not for God’s benefit. God needs nothing for Himself because God is self-sufficient and self-sustaining. Only humans have needs.
“Consider the mercy of God and His gifts. He enjoineth upon you that which shall profit you, though He Himself can well dispense with all creatures.”
“The one true God, exalted be His glory, hath wished nothing for Himself. The allegiance of mankind profiteth Him not, neither doth its perversity harm Him. The Bird of the Realm of Utterance voiceth continually this call: “All things have I willed for thee, and thee, too, for thine own sake.”