Krishna says plainly: those great souls who reach Me do not return to this world of suffering and impermanence. They have attained the highest perfection.
Krishna calls this world "duhkhalayam" — a house of sorrow — and "ashashvatam" — fleeting. This is not pessimism. It is simply an honest description. Carrying an umbrella in the rain is not pessimism — it is practical wisdom. Recognizing that the world is transient, and then turning toward the eternal, is the wisest move one can make.
And once a soul reaches God, there is no return. No more sorrow, no more impermanence. That is the ultimate freedom, the ultimate success.