Then they are judged and fall in the reverse order of their introduction. Satan last of all falls in Chap 20. So when we read in Rev 21 that the new heaven and new earth have come down and God dwells in the midst of it, we are reading about the completion of Christ's work for us. The real paradise of God has been restored. Those who are in Christ Jesus today have entered into this new relationship.
People are unable to accept that the Kingdom of God is present.
They think in the physical realm where Satan still exists. But in the spiritual realm Satan has been removed from between man and his maker. Yet we still wait for the change of our bodies. So we still are people of hope and faith. We partake of the typical arrangements that were given the church, such as the Lord's Supper, Baptism, and church organization.