I'm not sure, but maybe when it is said how we will sing with/toward God and worship God looking up to him constantly might be a misunderstanding.

It has been said that God is in everything such as how Jesus said you can find him by turning any rock. So maybe saying how we will be in close connection toward God for eternity might be misunderstood as us being pointed toward one specific point when instead maybe we will realize God is in everything and everything we do he will be with us and around us. And how we will enjoy that close connection in everything we do has been decribed as singing.

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It is human to love and divine to forgive

My concern is not whether God is on our side, my greatest concern is to be on God's side... - Abraham Lincoln