Tafsir of Fussilat 41:31

نحن أولياوكم في الحياة الدنيا وفي اﻻخرة

We have been your friends in the life of this world and are (so) in the Hereafter. means, the angels will say to the believers when death approaches: "We have been your friends, i.e., your close companions, in this world, protecting you and helping you by the command of Allah, and we will be with you in the Hereafter, keeping you from feeling lonely in your graves and when the Trumpet is blown; we will reassure you on the Day of Resurrection and will take you across the Sirat and bring you to the Gardens of delight.''

ولكم فيها ما تشتهي أنفسكم

Therein you shall have (all) that your souls desire, means, `in Paradise you will have all that you wish for and that will delight you.'

ولكم فيها ما تدعون

and therein you shall have (all) for which you ask. means, `whatever you ask for, it will appear before you as you wish it to be.'

نزﻻ من غفور رحيم