what does Allah expect and want

i thank Allah everyday for the much needed guidance he has placed into my life and how much good it does me and how much good it allows me to do, and as i get older i find i become a better person every year, i can even feel it as though it were physical, and i know this is owed to Allah but still i make mistakes and i am imperfect and i do wrong with the knowledge that it is wrong from time to time, and i find thereafter i am engulfed with this terrible fear and guilt and i cannot help wondering if He expects it to all be entirely corrected in my lifetime, even if the cost of achieving this may be my happiness in the end. does Allah want me to be happy? or to be perfect? even now i feel guilty describing it as fear that i feel when i mess up, because i don't believe i can be better for fear of consequence, and therefore i don't feel that this is what He wants from me, but what sorts of things do you all feel He is wanting and expecting of you? do you often feel that you are not meeting those obligations? how do you conquer these feelings?