Jesus told this very clearly. Hence not adding any explanation. Desire this abundant, overflowing joy. Jesus told this only because it is possible.
Given below are verses from various versions of the Bible.

In heaven it is fulness of Joy as we are always in the presence of God. There is no sorrow, no sickness, no anger, no bitterness, no unforgiving, no hunger…..

Joy has a noise. Gladness can be heard. Victories are loud. Imagine any sporting event. Much rejoicing is heard from supporters of the winning team. Even in the case of individual sports items, the sounds of cheering from the friends and family of the winner is just great to hear.