Yes. The medresh says everything is about “kivui” – anticipation; one of the things listed is anticipation for moshiach (and of course, it is one of the ikkarim).
That said, the Gr”a said that when people get to Olam Haba (note: that’s after yemos hamoshiach) they’ll be wishing they were in Olam Hazeh in order to be able to accomplish more. The yegiyah is what is truly important.
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