Yes, Jesus has been, and is with His followers. He is with us every day leading us, teaching us, holding us, etc.
But earth now is obviously not the place He is talking about when He said He is preparing a place for us, and He said He would return, come get us, and take us back with Him to that place He has prepared.
John 14:1-4
1“Do not let your hearts be troubled. Trust in God; trust also in me. 2In my Father’s house are many rooms; if it were not so, I would have told you. I am going there to prepare a place for you. 3And if I go and prepare a place for you, I will come back and take you to be with me that you also may be where I am. 4You know the way to the place where I am going.”