We [angels] were your allies in worldly life and [are so] in the Hereafter. And you will have therein whatever your souls desire, and you will have therein whatever you request [or wish]
(Verily, those who say: "Our Lord is Allah," and then they stand firm,) means, they do good deeds sincerely for the sake of Allah, and they obey Allah, doing what Allah has prescribed for them. Ibn Jarir recorded that Sa`id bin `Imran said, "I read this Ayah to Abu Bakr As-Siddiq, may Allah be pleased with him:
(Verily, those who say: "Our Lord is Allah," and then they stand firm,) He said, `Those are the ones who do not associate anything with Allah."' Then he reported a narration of Al-Aswad bin Hilal, who said, "Abu Bakr As-Siddiq, may Allah be pleased with him, said, `What do you say about this Ayah:
لَكُمْ فِيهَا مَا تَشْتَهِي أَنفُسُكُمْ وَلَكُمْ فِيهَا مَا تَدَّعُونَ نُزُلًا مِّنْ غَفُورٍ رَّحِيمٍ (And for you here is whatever your souls desire, and for you here is whatever you call for. - 41:31-32) In other words, ` all your desires' would be fulfilled whether you request or you don't.' The word used after that is ` nuzulan'1 meaning hospitality indicates that many the delights provided to you there will be such that even desire had not entered your heart, as happens to a guest, specially of a great personage, that many such things also are presented to him that the guest had not even imagined. (Mazhari)
1. This which originally means ` a thing prepared by a host to be offered to him soon after his arrival'. That is why it is translated by us above as a ` welcome-gift'. But for the sake of brevity and in general usage, it is generally translated as ` hospitality'. Muhammad Taqi Usmani
It is stated in a Hadith that the Holy Prophet ﷺ said that in Paradise, if the desire comes into your heart to eat the flesh of a flying bird you are looking at it, it would immediately fall in front of you completely cooked, ready to eat. Some narrations have it that the bird would not have been touched either by fire or smoke, but would come down already cooked. (Al-Bazzar, Al-Baihaqi - narrated by Ibn Masud - Mazhari)
In another Hadith, the Holy Prophet ﷺ said that if a Mu'min in Paradise wishes to have a child born in his house, the conception, delivery, weaning, growing into being an adult - all this would take place in a moment. (Tirmidhi, Baihaqi, etc. - Mazhari)
Tazkirul Quran
Maulana Wahiduddin KhanOn ayahs 31–35
There are two types of human beings. One consists of those who take Satan and those who misguide others as their leaders. In the world, these people are each other’s best friends. But, in the Hereafter, the position will be just the opposite. There , when the followers see that their selfish leaders have caused them to be cast into hell, they will develop an extreme hatred for these ‘so-called’ leaders, and will wish to have the satisfaction of degrading and dishonouring them. The second type of human beings comprises those who will fraternize with God’s angels. Such people take angels as their comrades (companions) for the period extending from this world up to the Hereafter. The angels shower godly emotions on their hearts, and in difficult times give them peace of mind. Through fine aesthetic experiences, they convey to them God’s good news. Subsequently, these angels will receive them in the Hereafter and lead them to the gardens of paradise.
Uthmani text of the Madinah mushaf (King Fahd Complex). Translation: Saheeh International. Tafsir via Quran.com.