A.T. Robertson Commentary 2 Corinthians 5:8

"we are of good courage, I say, and are willing rather to be absent from the body, and to be at home with the Lord." — 2 Corinthians 5:8 (ASV)

We are of good courage (θαρρουμεν). Good word for cheer and same root as θαρσεω (Matthew 9:2,22). Cheer up.

Are willing rather (ευδοκουμεν). Rather, "We are well-pleased, we prefer" if left to ourselves. Cf. Php 1:21f. Same ευδοκεω used in Lu 3:22.

To be at home with the Lord (ενδημησα προς τον Κυριον). First aorist (ingressive) active infinitive, to attain that goal is bliss for Paul.