Jesus came once to atone for sins, and He’s coming again to restore all things—and that Day is when we will see His Kingdom in fullness on earth. That’s what we wait for and work towards: the return of Jesus to rule and reign on this earth for 1,000 years because we rule and reign with Him.
“They came to life and reigned with Christ for a thousand years. The rest of the dead did not come to life until the thousand years were ended. This is the first resurrection. Blessed and holy is the one who shares in the first resurrection! Over such the second death has no power, but they will be priests of God and of Christ, and they will reign with him for a thousand years.” Revelation 20:5-6