Yes, we were created in God's image to become intimate with Him, to know Him, to discover Him and in doing so to discover yourself. True happiness is found in our relationship to God all other pursuits are empty and vain when not put in their proper place behind God. When you discover God (the one true God, as revealed in the Bible) all of life is revealed, joy is your companion, and your unique purpose unfolds each day. You discover that you don't have to be afraid because He has your back, that death is merely a door into another more wonderful life and that your time spent on earth has meaning, that everything you do matters in eternity.
I hope this answers your question.