Yes, we as a people are living the lives we desire, as many people do live the lives they want, and as a society, we are continually pressing forward in economic ways, technological ways, ways of justice, and ways of civil rights. So long as we continue to do so, we are living the lives humanity desires.
Humans are living the lives we deserve because we make our own lives. If we don't like the lives we deserve, we have the power to change things because we have free will. We can't help the hand we are dealt when we are born. However, we deserve whatever life we choose later on when we are able to make our own decisions and live on our own.