David declares his trust in God as his refuge and his only true source of goodness. He rejects the path of idol worship and finds joy in being among God’s people. He praises God for guiding his life and setting healthy boundaries. With the Lord always before him, David feels secure and unshaken. He rejoices in God’s presence, knowing it brings fullness of joy and eternal pleasures. Psalm 16 is a bold, confident proclamation that true peace, purpose, and joy are found only in walking closely with God.