Yes, blessing, praising, adoring and loving Him is our main purpose, and our whole purpose is to also learn, with the Holy Spirit's help to become better people, to serve in the Kingdom of God..... which starts now with every believer that claims Christ as their Savior.
Knowing that God has great purpose in our lives, (by His power) keeps us stoked to be ready and steady on the pathway in which He has opened doors for us to serve in....without worrying about the rest.