We received the same promises as those people in the wilderness, but the promises didn't do them a bit of good because they didn't receive the promises with faith.
If we believe, though, we'll experience that state of resting. But not if we don't have faith. Remember that God said, Exasperated, I vowed, "They'll never get where they're going, never be able to sit down and rest." God made that vow, even though he'd finished his part before the foundation of the world.
God keeps renewing the promise and setting the date as today, just as he did in David's psalm, centuries later than the original invitation: Today, please listen, don't turn a deaf ear . . .
God means what he says. What he says goes. His powerful Word is sharp as a surgeon's scalpel, cutting through everything, whether doubt or defense, laying us open to listen and obey.