The complete quote could be said as "The joy is in the journey, not the destination", in other words, joy can be found in the journey that can be non ending, but it cannot be found at the destination which represents the personification of death. So Abraham wanted to tell you that in your life, your desires is what brings joy in your journey, and you should never stop having desires, thus a journey that never ends, and you expand as well the Universe expands along with you.