In a sense, yes. God created man to worship Him, but when sin came into the world through Adam and Eve, it separated them and all future mankind from God. However God loved us so much that He sent His Son, Jesus, to die in our place and pay the penalty of sin that we had no way to pay. It's a free gift and we just need to believe we're a sinner, need a Saviour and tell Him we accept His Son as our payment. Once that happens, He wants us to live our life serving Him, and then be with Him in heaven for all eternity. Those who refuse to do that and decide to try it on their own will one day die, and spend eternity in hell paying for their own sin.
Because of the fact that God spelled all of this out and made it clear in His Word, the Bible, and it will come to pass, we can say yes to your question. God has a plan for your life and He has specifically laid out the end results of the choice we make.