One of the most misunderstood doctrines of the LDS Church is that we state that we ARE indeed children of God, with all of his blessings awaiting us as such. We lived with Him before coming to live on this earth which was created for us2; he knew each of us personally,3 and sent us here so that we could learn to be like him.4
We read in Genesis that we were created in his own likeness and image.5 He loved each of us so much that he was willing to let us come to earth, to learn and have experiences that would help us become more like Him. He knew that it would be difficult and that there would be pitfalls and detours that would tempt us, and he knew that we would lose our way at times; because of this, because of his love, he provided us with instructions that would help us get back on the road that leads back to his presence: the scriptures.
One of my favorite hymns states ♫I am a child of God, and he has sent me here, has given me an earthly home, with parents kind and dear. Lead me, guide me, walk beside me, help me find the way.Teach me all that I must do, to live with him some day.♪♪6
6LDS Hymns 301; Naomi W. Randall