Heaven: A Biblical Perspective

Most people (Christian or not) in the world today see Heaven as a separate place from here, maybe where angels sing along with us in worship to God and play harps on clouds in an aethereal place called Heaven.
This brings up some questions: is this true? Does the Bible teach this? Why do we think this is what Heaven will be like? Could it be because of the way church services are run (not that they are bad at all)? Could it be because of the depiction of painters and people who may or may not understand the Bible?
Today, Zach and Michael talk about how the Bible describes Heaven, in two different sections: #1, if I died today, and #2, when Jesus returns again at the end of the world. They then describe who goes to Heaven, and who goes to hell, the only difference being a committed relationship to Jesus Christ.