Are we saved just to escape hell and go to heaven?
No, we are not saved just to escape hell or to go to heaven. We are saved to be to the praise of His glory in this life, right now. God paid the price of our redemption so we can bring Him glory.
Les explains that many people, especially children, are merely saved as a fire escape—they just want to not go to hell and to go to heaven. He says there is nothing wrong with that, but we are not just saved to escape hell, nor saved just to go to heaven. Instead, we are saved to be to the praise of His glory in this life, right now. This is why God paid the price of our redemption, so that we can be to the praise of His glory, those who first trusted in Christ. Les notes it does not say to those who were baptized, joined the church, or did good works, but to those who have praised Him and brought Him glory. He also emphasizes the sequence: we trusted after hearing the word of truth, so no one is a Christian before hearing it.
That we should be to the praise of his glory, who first trusted in Christ.