The union of our essence, in the spiritual realms, with our soul, here in a body, is always available to be experienced. And we, have, over and over in life when we felt our own lovable-ness and value, even for just a split second.
A mother is helping a child hold on to the memory of the union of essence and soul, by her very love and care, but apart from what we get from her (and not all souls got assigned a loving parent), we are ALWAYS being loved and cherished in that manner from the part of ourselves we left behind. It is our job to figure out how to feel that more of the time. That much self-regard feels too good to be true, and too tender to tolerate but it is our best option for having deep peace while in a body.
If you do not feel you were adored by your mother, then watch some other mother adore her child and understand you are looking at a mirror of what is true for you as well even though it is hard for you to access it. You are just that adored, but going to have to dig to discover it.
Peace on earth? We will have that when we all open to how much our essence longs for union with us, not after death, but now, here, in a body, as part of the earth we are wishing peace for.