well, revelation did mention something about 1000 years of peace on earth or a new earth or something like that didn't it. I think I've also seen opinions here about their being a heaven-like earth eventually, so I don't think it's all that far off the mark. Maybe the general transition also has to do with the convertees, such as the greeks etc., having the kind of heavenly heaven that you're thinking of
The Jews knew that Messiah's Kingdom was going to come, and that he would rule as King. He would have a royal priesthood to minister to a holy nation....everything they believed had an earthly fulfillment. But when Jesus came and he tried to tell them about the Kingdom's heavenly nature, they just didn't get it.
Jesus had mentioned going away to "prepare a place" for his disciples, they didn't know that he meant in heaven. Even as he was ascending to his Father after his resurrection, they asked him..
."Lord, are you restoring the kingdom to Israel at this time?” (Acts 1:6)
But what are the clues that Jesus gave to his disciples? He spoke of his Father's house having many dwelling places.
"In the house of my Father are many dwelling places. Otherwise, I would have told you, for I am going my way to prepare a place for you. 3 Also, if I go my way and prepare a place for you, I will come again and will receive you home to myself, so that where I am you also may be. 4 And where I am going, you know the way.” (John 14:2-4)
He spoke of coming back to take them "home". Since Jesus and his apostles had been virtually homeless for three and a half years, that must have sounded nice, but they must have wondered where that "home" would be? The Temple perhaps???
Jesus tried to tell them about his immanent death but Peter denied that this would happen.
"From that time forward, Jesus began explaining to his disciples that he must go to Jerusalem and suffer many things from the elders and chief priests and scribes and be killed, and on the third day be raised up. 22 At this Peter took him aside and began to rebuke him, saying: “Be kind to yourself, Lord; you will not have this happen to you at all.” 23 But turning his back, he said to Peter: “Get behind me, Satan! You are a stumbling block to me, because you think, not God’s thoughts, but those of men." (Matthew 16:21-23)
Their failure to discern the reality of his death and the manner of his resurrection was a problem for them right up until Pentecost, when the holy spirit was poured out on the 120 disciples who had obediently stayed in Jerusalem for the "helper" to arrive. The holy spirit imparted all they needed to understand their spiritual inheritance and to appreciate that their resurrection was not to be in the flesh, but like Jesus, in a spirit body. (1 Peter 3:18; 1 Corinthians 15:35-53)
Only a relatively small number go to heaven for rulership roles, but the majority of mankind will live on earth as God first purposed. God's intention at the start would never be thwarted by the disobedience of his free willed creatures. (Isaiah 55:11)
The heavenly destination for those first Christians in no way altered the earthly hope that the Jews had held for centuries. All that changed was the location of the Kingdom and the fact that its rulers and priests would conduct their duties from heaven over a cleansed earth. (Revelation 21:2-4; Revelation 20:6) The thousand years of the Kingdom's rule would see humankind restored to their original sinless state. And then all the earthly citizens of God's Kingdom would comprise those who held faith in God, and who appreciated the precious gift that Christ offered up for them. Those called from their graves will likewise live on earth under the Kingdom's peaceful rule. (John 5:28-29)
That is how I understand the Bible's message for us.