God has the ability to "cleanse" our souls and can relieve our guilt through forgiveness and enlightenment. If God is all-powerful, he can change us. And, if heaven is "paradise" as Jesus is claimed to have said, we would be better off with God in Heaven. So, if guilt is the issue, God should relive that guilt, forgive our transgressions, and get right with us. We are the imperfect creation, so God is in a much better position to convince us of the "good" than we are ourselves. So, it seems cruel to me that God would refuse to take it upon himself to make us "right" with him so that we can enjoy paradise at his side.
Of course he can. And he has said as much. And he has told us how we can have our souls cleansed, our guilt removed and our minds enlightened. The questions is, are we willing to do what is necessary?
God has his hand stretched out to us - will we grab it? God has his arms open - will we embrace him?
"Behold, I stand at the door, and knock: if any man hear my voice, and open the door, I will come in to him, and will sup with him, and he with me." Revelation 3:20
God has, is and will always call out to us. He does not care what our past sins have been. He doesn't care if we've ever cursed Him. All he wants is for us to return home. But He will not force anyone, not even a single soul. Our free will is most sacred and God will never interfere with it. In fact that is what the war in heaven was all about as recorded in the book of Moses:
1 And I, the Lord God, spake unto Moses, saying: That Satan, whom thou hast commanded in the name of mine Only Begotten, is the same which was from the beginning, and he came before me, saying—Behold, here am I, send me, I will be thy son, and I will redeem all mankind, that one soul shall not be lost, and surely I will do it; wherefore give me thine honor.
2 But, behold, my Beloved Son, which was my Beloved and Chosen from the beginning, said unto me—Father, thy will be done, and the glory be thine forever.
3 Wherefore, because that Satan rebelled against me, and sought to destroy the agency of man, which I, the Lord God, had given him, and also, that I should give unto him mine own power; by the power of mine Only Begotten, I caused that he should be cast down;
4 And he became Satan, yea, even the devil, the father of all lies, to deceive and to blind men, and to lead them captive at his will, even as many as would not hearken unto my voice.
Our ability to choose is an essential part of our ability to reach our potential. God chooses to be who he is. He doesn't want anything less for his children.