One effect of the Incarnation of the Son was that it forever legitimized the human active life, as distinct from the fully contemplative life of the angels.
St. Thomas insisted that human happiness consists in the “sole contemplation of God seen in His essence.” This is true for the angels but false for men; or at least a half-truth.
Humans are different from angels precisely by having and needing an active life. Human bodies are not prisons but essential aspects of our existence.
As a result, we are promised both a new heaven and a new earth. Angels exist in heaven only; humans will be able to switch between disembodied heaven and embodied paradise at will.
To see that, mix Thomas Aquinas with Ludwig von Mises to obtain a yummy system.