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 of joy 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 perfect contentment, joy, and bliss.
He is not just full but overflowing. God doesn't need us because he has **himself.
In short, both God's independence from us and desire for us is because he has himself. He alone is the "I AM" 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. And because He is, He desires we too partake in His bliss.
In summary:
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 within the Godhead 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?
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* Because we operate out of need it is hard for us to comprehend and relate to someone that only and perpetually operates out of perfect fullness and overflow. We simply can not relate to this from our own experience i.e. it is not how we operate as dependent and broken image-bearers of God.
** To be loved by the most perfect being is to be loved perfectly. Christ is the perfect image and reflection of the Father and therefore most highly regarded and loved by the Father. In response, Christ adores the Father in whose image he is, and also desires we know and experience the Father in the way he experiences Him. To be loved perfectly - as the Father and Son love each other - is to be in a state of complete fullness, bliss, and contentment. This results in God overflowing in love which moves Him to share Himself with others - so we - His image-bearers - can also participate in this state of blissful union.
