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What Jesus said ... "Follow me and go on a mission."
And Didn't say ... "Follow me and go to heaven."
The main thesis of the book is derived from Matthew, Mark, and Luke.
In these Synoptic Gospels, Jesus never mentions "heaven" except when speaking of God the Father. Jesus is a very this-world incarnation of God.
Our Lord explains that the mission will always involve both words and Actions. The words should make clear that, a) the one who calls is the man Jesus, who is the true revelation of God, b) one's relationship with God is a reflection of Jesus's perfect relationship with the Father. The actions should be in the selfless lifestyle of Jesus himself, always remembering, "I will be with you every day" (Matthew 28:19).