Regarding the fact that Jesus came to bring us a kingdom which leads to our living righteously, read Matthew 6:33. Then read the entire Sermon on the Mount (Matthew 5-7) of which this verse is a part. When you finish, ask yourself if what Jesus was talking about in that teaching was like any church you have ever attended.
Jesus was not talking about church. He was talking about a way a life that you live for Him and through Him. This way of living is what He called the kingdom of God (the kingdom of heaven is a synoymous term). The kingdom of God was what the New Testament church was waiting on. Since the kingdom came, we no longer have to wait for it. We simply seek to enter it by faith and obedience to Jesus.