It is true that Christians have the hope of "going to Heaven" at the end of God's plan for history.
But that is not the good news that calls each of us to follow Jesus.
In this passage in Matthew 16, Jesus exposes the heart of his call to discipleship--to following him and his way. It is the call of the master to his servants. Jesus warns that anyone following him for other reasons will lose the very thing they hope to gain.
Instead, Jesus invites every human being to embrace what we are: servants of God. Jesus invites every human being to devote ourselves to the only worthwhile object in this life: living for the happiness of God. Jesus sounds this call, because the truth is that God alone is worthy.
Naturally, we all wish we could live in a place like the Garden of Eden. This is at the heart of much of our progress and civilization. Still, crime rates and constant wars around the world remind us that modern civilization is far from Eden. Jesus teaches his disciples how to live the life of Eden now, even while we are still so far away.