Yes, some day we will be in God's presence forever if we know Christ, and we will see God in all of His greatness and glory. Jesus said, "Blessed are the pure in heart, for they will see God" (Matthew 5:8).
Can I imagine what that will be like? No, not really -- because heaven will be far greater than anything we presently know. In some ways, heaven may be like our lives right now; we may even live in a world somewhat like our own -- although one without sin or decay. But in other ways it will be far more glorious than anything we've ever experienced -- and one reason is because we will be in the presence of God forever. Like the shepherds to whom the angels came on that first Christmas night, when we first glimpse heaven I'm sure we'll be overwhelmed by the glory of the Lord (see Luke 2:9).
You're correct, however, in saying we have no right to be in God's presence in heaven -- because we are sinful and impure, and God is absolutely holy and pure. But Jesus Christ came for one reason: to cleanse us from our sins so we could go to heaven when we die. He did this by becoming the final and complete sacrifice for our sins through His death on the cross.
Some day your life will be over, but are you prepared for that day? Don't delay, but trust Jesus Christ for your salvation -- and then rejoice that someday you will be in God's presence forever.