Can We have Heaven on Earth?

[lookingland]

I'm reading Interior Castle (Saint Teresa of Avila) and in the Fifth Mansion, Chapter One she says:

(F)or, though many are called, few are chosen....So let us pause here, my sisters, and beg the Lord that, since to some extent it is possible for us to enjoy Heaven upon earth, He will grant us His help so that it will not be our fault if we miss anything may He also show us the road and give strength to our souls so that we may dig until we find this hidden treasure, since it is quite true that we have it within ourselves.

I wonder about the notion of "Heaven on Earth" and whether it's possible. I was always taught that Heaven was Heaven and Earth was Earth, but lately have been challenged to ask myself whether the road to perfection is, in part, creating Heaven on Earth in order to prepare yourself for the "after".