The Kingdom of God can only be reached from within, it is a mental state, not a place you can walk to. Our senses are deceiving us, because all reality is imagined. So to be able to experience what Jesus did you have to be like him, imitate his actions.
Think about it, Jesus went through all that trouble trying to make us realize this truth. He couldn't just be a king and exert his power through law and order, because that wouldn't have been holy.
If all humanity adopts the consciousness of Jesus at the same time, you wouldn't need laws, police or a military because everyone would just know how to act in the name of God.
Jesus came to Earth as your equal, as your servant, not as your president. Jesus didn't ask to be worshipped, he asked to be followed. The protagonist of The Bible is not Jesus, it's you reading it. You are the one who has to do the work.
The goal of a teacher is to get his students to become masters at what he preaches.