Life is good for King David. He is living peacefully in a lavish home and decides that the ark should be kept in better accommodations than a tent. However, he didn't consult God about the move, so the project was halted.
God's love is unconditional and He doesn't need us to do Him any favours. He doesn't want to be enshrined in an elaborate structure. God is fluid and mobile, moving freely to touch humanity everywhere and any time He chooses.