Jesus Himself just before His death, did not set aside ALL desire.
He wrestled to the ground the temptation to take the easy way. And He prayed to His father that His desire was for us to be with Him, with His Father in glory.
We have a foreshadowing of that here. We commune with Christ. We are with Him. This is what He wanted all along, why He came and taught, suffered and died for us.
Jesus was perfectly content in fellowship with His Father, but dis-satisfied to leave us outside of that fellowship. He wanted for us what He had. And He has seen the labor of His soul, and been satisfied. He sat down at the right hand of God, His work finished. Let us also be content and at rest in His work done for us.