We know by the context.

God’s people are described as aliens and strangers, looking for a country of their own (Hebrews 11:14). This world, under the curse, is not our home. In fact, our real home is a place we’ve never lived.

Someone recently showed me an article from a reputable Christian magazine that stated we will not have physical bodies in the future heaven, based on an (incorrect) understanding of the reference in 1 Corinthians 15 to a “spiritual body".

What we usually think of when we hear “Heaven” is the intermediate state.

Heaven is both a country (Luke 19:12; Heb. 11:14-16) and a city (Heb. 11:16; 12:22; 13:14; Rev. 21:12).

The biblical truth that we will live forever as resurrected beings in a society of resurrected beings, on a resurrected earth, with our resurrected Lord, has implications that invite speculation.

Many religions, including Buddhism and Hinduism, picture the afterlife as vague and intangible. Christianity specifically refutes this notion. Biblical Christianity doesn’t give up on humanity or the earth.

The New Earth will still be Earth just as we, in our new bodies, will still be ourselves. 

Returning to the prefall-Adamic state is not our destiny. The glorification we'll experience in the resurrected state will entail the righteousness of Christ which is far beyond the innocence known by Adam and Eve. But the Curse placed on the Earth because of the fall will be removed and the natural world will have an Eden-like quality, as we see from Revelation where the Tree of Life that was in Eden will be on the New Earth.