Heaven was meant for people of faith in Old Testament times just as much as it is for us. It's true that God didn't reveal as much about heaven to them as He has to us, but they still understood that heaven was their final home -- just as it is ours.
I think of Job, for example, who in the midst of his suffering and loneliness still knew that some day he would be in God's presence forever. He declared, "After my skin has been destroyed, yet in my flesh I will see God; I myself will see him with my own eyes -- I, and not another. How my heart yearns within me!" (Job 19:26-27). Or think of the familiar words of King David in Psalm 23 -- words of hope and confidence in God's promise of eternal life. He wrote, "Even though I walk through the valley of the shadow of death, I will fear no evil, for you are with me. ... and I will dwell in the house of the Lord forever" (Psalm 23:4,6).
Yes, they believed God's promises of heaven -- but you and I have even greater certainty, because Jesus Christ has opened heaven's door for us. Only one thing will keep us out of heaven, and that is our sin. But Christ came to take away our sin, and because of His death and resurrection we can be saved.
Do you have this hope? You can, by turning to Jesus Christ and receiving Him into your life today. Put your faith and trust in Him without delay.