Are your burdens heavy? Are you still trying to earn your way into Heaven? Jesus says "Come to me, and I will give you rest." Have you accepted His peace? Do you feel that peace in your everyday life? After all, didn't Jesus say His yoke was light? How does that work?
Let's take a look at those verses, I really like this translation and find it a little simpler to understand.
"Come to me, all of you who are tired and are carrying heavy loads. I will give you rest. Become my servants and learn from me. I am gentle and free of pride. You will find rest for your souls. Serving me is easy, and my load is light." Matthew 11:28-30 NIRV
In the first part of this passage, Jesus is saying that He knows the law is a heavy burden to bear and He will give rest from that. When we believe in what Christ did for us, we can rest in the peace of knowing that we are His for eternity and we no longer have to worry about working 'hard' enough.
In the second half, I think Jesus is explaining how to gain rest for our souls while here on the earth. To have peace in our daily lives, we must be willing to learn from Him. Jesus does not say that we will no longer have any load, but that He will give us His. We will no longer be servants of the world but servants for Him. Serving Christ is easy compared to bearing the burdens of the world.
"Here is what it means to love God. It means that we obey his commands. And his commands are not hard to obey."
1 John 5:3
Unfortunately, many Christians know that they will be with Him forever, but are missing out on the everyday peace that Jesus gives us when we learn to walk in His ways. In Jesus is the only place where we can find true rest now and in eternity!