It states in this week's parashah (10:14) 'לה הן בה אשר וכל הארץ השמים ושמי השמים אלקיך, "Behold to Hashem, your G-d, belong the heavens and the heavens of the heavens, the earth, and all that is on it..." What is the order of the passuk? It begins with the heaven and then השמים שמי, which are higher heavens. And then back to הארץ, the earth, which is the lowest level.
Chazal (Pesachim 109) say, בבשר אלא שמחה אין. We can explain, Hashem's joy is solely from human beings, who are ודם בשר. The parashah begins, תשמעון עקב והיה. The Chidushei HaRim zt'l explains: והיה, there will be joy, עקב, when in the דמשיחא עקבתא (the final generation before the coming of Moshiach) תשמעון, the Jewish people keep the Torah.
In Mussaf we say, ממקומו 'ה כבוד ברוך ואומרים משבחים לעומתם להעריצו כבודו מקום איה לזה זה שואלין משרתיו. The Chasam Sofer explains that when people honor a king in his palace, that isn't really כבוד, honor. It is mostly fear, because they must honor the king, otherwise they will be punished. However, when people far from the king honor him, that is called כבוד. For kavod is when one isn't obligated and honors nonetheless. Therefore, it states, לזה זה שואלים משרתיו, the malachim in heaven ask כבודו מקום איה, “Where is Hashem's honor? How can we give honor to Hashem?” And the truth is, they can't. לעומתם, but people on earth, they can say ממקומו 'ה כבוד ברוך.
The Alshich addresses this question. He writes, "Let's take note of the passuk’s order. It should have gone from lowest to highest: the earth, the shamayim, and then shmei shamayim, or from highest to lowest, shmei shamayim, shamayim, and aretz. The explanation is, Chazal tell us that Hakadosh Baruch Hu created the world because He desired a place to live בתחתונים, in this world. And indeed, when the Beis HaMikdash stood, the primary place of the Shechinah was in this world. When we do Hashem's will, this world is the primary world. The malachim and the Shechinah are primarily here, and the earth becomes higher than all the upper worlds. So the order is from the lowest to highest: First is shamayim, where constellations exist. Above them is shmei shamayim, where the malachim are. And above that is the earth and everything on it..." because when we serve Hashem from this world, the earth is the highest place.
The reason is that Hashem desires to reside in a world where there are tests and challenges. Malachim serve Hashem perfectly, but derives special pleasure, keviyachol, when His service emerges from human beings. Therefore, Hashem desires to dwell here.
The Beis Aharon (pg.47:) states, "Hakadosh Baruch Hu has millions of malachim who are constantly praising His name... nevertheless, Hashem's primary desire is for people to serve Him from this world. This can be compared to a great king who has all pleasures of this world. He has talented musicians at his service — the best in the world. And he also has a small talking bird that can say a single word, “sugar.” The king drops all his pleasures and musicians and delights himself with his bird. People asked him, 'You have singers and musicians; why do you pay attention to the bird?' He replied, 'There is nothing unique about the musicians because they are humans and are trained to play. But a bird that can talk, now that is unusual...' The nimshal is the malachim are near Hashem, and they see the brilliance of heaven. Still, Hashem’s primary pleasure is from us, dwellers of this lowly world, who attain a connection to spirituality. When we do mitzvos with the material matters of this world, we draw down holiness..." That is unique and special; therefore, Hashem appreciates our service so much more.
The Or HaChaim (Bamidbar 16:22) writes, "The order of Hashem's desires: First are the praises the malachim sing to Hashem. Above them are the praises sung by the souls of tzaddikim [in heaven]. Even higher are the praises from the neshamos of the people living in this world because they are in a human body, which prevents them from recognizing Hashem, yet they love Hashem and praise Him. This is the highest and most desired by Hashem."
