God doesn't need us but he does want us and enjoy us. So why would God want us and how can he enjoy us if he doesn't need us?
God is not like we are. He operates on a totally different - infinitely higher level than we do. We operate *out of need but God operates out of fullness i.e. overflow. God enjoys us because he is a being who from all eternity past gives and receives Love, honor, and delight among the Father, Son, and Spirit. He is perfect fullness and love. He is perfect community.
He is not just full but overflowing. God doesn't need us because he has **himself. But
In short, both God's independence from us and desire for us is because he has himself i.e. He is not only complete as a being, he is overflowing because of His completeness/perfection. He is perfect in love, glory, and joy.
God loves perfectly because he is perfect love as Father, Son, and Spirit.
God is independent because he is inner dependent, self-sufficient, and overflowing for the same reason.
For related discussions about God see the following:
The importance and necessity of the Trinity
The essence of God's life
Thoughts on the Trinity
Overview of Jonathan Edwards theology.
Why do the Father and Son love each other?
* Because we operate out of need it is hard for us to comprehend and relate to someone that operates out of perfect fullness and overflow. We simply can not relate to this by our own experience i.e. it is not how we operate.
** To be loved by the most perfect being is to be loved perfectly. Christ is the perfect image of the Father and therefore most highly regarded and loved by the Father. And in response, Christ adores the Father in whose image he is, who also desires others to know and experience the Father as he experiences Him. To be loved perfectly is to be in a state of complete fullness, bliss, and contentment. This results in God overflowing in love and moves Him to share Himself with others – as Father, Son, and Spirit - so they too can participate in this state of blissful union.