Again, it would be God yearns for man to have fellowship with Him who needs nothing. If God needed anything He would be God. Contrary to what so many imagine, God is not described as needing man, and contrary to what anti-theists assert, God has no ego that needs man to worship Him. The command to do so is simply because worshiping a omniscient, omnipotent, omnipresent constantly giving, benevolent, just yet merciful and gracious morally perfect Being is what is right and to the benefit of man, while all other gods are created and will fail and often mislead man.
God that made the world and all things therein, seeing that he is Lord of heaven and earth, dwelleth not in temples made with hands; Neither is worshipped with men’s hands, as though he needed any thing, seeing he giveth to all life, and breath, and all things; (Acts 17:24-25)
Why do you think of my imperfect poem: http://peacebyjesus.net/CREATION2CONSUMATION-POEM.pdf
It isn't that God couldn't do it, wanted something He couldn't have, limited Himself because it trend on man's sovereignty, etc. It only means that God loves to give us the very best despite our desire to spur Him-much like the prodigal son.
I like your poem but I would have issue with a few of the points, #3 in particular goes against a number of verses (John 15:16, James 2:5, Matthew 24:14, Acts 10:41, John 1:12-13, John 6:35-37, etc.)