God’s desire for all of us to be always with Him is exemplified by the parable of the lost sheep. He left the ninety nine (99) to look for the one who strayed. He did not stop looking until He found it.
Who is the lost sheep? It’s you; it’s me who strays when we sin.
Such is the love of God for us that He doesn’t want us to get lost, if ever we get lost. The Sacrament of Reconciliation/Confession is always there for us to find our way back to the good shepherd that is Jesus.