Rebecca K Reynolds explains the the desire to be with Christ is not something for which the disciple needs to feel guilty as if its an avoidance of the realities of life, rather the desire to be with Christ is a natural feeling to experience more of the belonging which union with Jesus brings to our lives:
Paul’s use of the words with Christ clued me in to something big. His ache was relational, not just geographic. He didn’t simply want to get to heaven; he wanted to get further up and further in to community with Jesus. Before catching that, I’d always felt sort of guilty for wanting to escape my earthly life to be closer to the Lord—after all, the Holy Spirit lived inside me. Why couldn’t I just be content with what I had already been given? Yet, Paul understood the indwelling of the Holy Spirit better than you or I ever will, and he still longed to experience divine fellowship in a way that was more intimate than anything he could encounter on earth. His story helps me rejoice in all things while admitting the cramp in my side. It gives me permission to live a little homesick.
Rebecca K Reynolds, Courage, Dear Heart, NavPress, 2018, pg 8.