Mark Epstein believes that Buddhism and psychoanalysis are mistaken to view desire as the root of suffering. In his book, he argues that desire is actually the key to deepening intimacy with ourselves, others, and the world. He proposes that spiritual attainment does not require detachment from intimacy or eroticism. Epstein explores how dissatisfaction causes irrational clinging and helps readers overcome fears of desire. Letting go of clinging and shame allows one to realize desire's potential to bridge gaps between people and find fulfillment rather than see others as objects.