I think we can certainly discount the idea that God was ‘lonely’.He has an innumerable company of angels at his command.
Hebrews 12:22 But ye are come unto mount Sion, and unto the city of the living God, the heavenly Jerusalem, and to an innumerable company of angels,
We are told that human beings were created for God’s pleasure.
Revelation 4:11 Thou art worthy, O Lord, to receive glory and honour and power: for thou hast created all things, and for thy pleasure they are and were created.
We were made with freewill, and we are told that God takes pleasure in those who choose to reverence and love him.
Psalms 147:11 The LORD taketh pleasure in them that fear him, in those that hope in his mercy.
Psalms 149:4 For the LORD taketh pleasure in his people: he will beautify the meek with salvation.
This is in the same way that John took pleasure in the fellowship of those for whom he cared and who were true to the precepts of the Gospel of the Kingdom.
3 John 1:4 I have no greater joy than to hear that my children walk in truth.
We are told that God IS love.
1 John 4:8 He that loveth not knoweth not God; for God is love.
All that God does is out of love for his creation.
John 3:16 For God so loved the world, that he gave his only begotten Son, that whosoever believeth in him should not perish, but have everlasting life.
We are told what God requires of us:
Deuteronomy 10:12 And now, Israel, what doth the LORD thy God require of thee, but to fear the LORD thy God, to walk in all his ways, and to love him, and to serve the LORD thy God with all thy heart and with all thy soul,
Micah 6:8 He hath shewed thee, O man, what is good; and what doth the LORD require of thee, but to do justly, and to love mercy, and to walk humbly with thy God?
Most parents understand the pleasure to be gained from children who lead good and moral lives.
God made the earth to be inhabited.
Isaiah 45:18 For thus saith the LORD that created the heavens; God himself that formed the earth and made it; he hath established it, he created it not in vain, he formed it to be inhabited: I am the LORD; and there is none else.
He intends to fill it with his Glory
Numbers 14:21 But as truly as I live, all the earth shall be filled with the glory of the LORD.
Isaiah 11:9 They shall not hurt nor destroy in all my holy mountain: for the earth shall be full of the knowledge of the LORD, as the waters cover the sea.
Habakkuk 2:14 For the earth shall be filled with the knowledge of the glory of the LORD, as the waters cover the sea.
God’s glory will be in the form of men and women raised to the divine nature and made equal to the angels.
Luke 20:36 Neither can they die any more: for they are equal unto the angels; and are the children of God, being the children of the resurrection.
Those who obey him in this life will be raised to eternal life and God will dwell in them and with them forever.
Paul says that at the end of the millennial reign of Christ God will be ‘all in all’.
1 Corinthians 15:28 And when all things shall be subdued unto him (Jesus), then shall the Son also himself be subject unto him that put all things under him, that God may be all in all.
In Revelation we read:
Revelation 21:3 And I heard a great voice out of heaven saying, Behold, the tabernacle of God is with men, and he will dwell with them, and they shall be his people, and God himself shall be with them, and be their God. 4 And God shall wipe away all tears from their eyes; and there shall be no more death, neither sorrow, nor crying, neither shall there be any more pain: for the former things are passed away.
We are assured that for those who are found faithful there will be joy and pleasure for evermore.
Psalms 16:11 Thou wilt shew me the path of life: in thy presence is fulness of joy; at thy right hand there are pleasures for evermore.
We cannot begin to imagine what eternal life with God will be like, but we understand that the joy will greatly surpass the joys of this life.
In that day we will fully understand why God created us.
I hope you find this helpful.