The Buddha never intended to make desire itself the problem. When he said craving causes suffering, he was referring not to our natural inclination as living beings to have wants and needs, but to our habit of clinging to experience that must, by nature, pass away.
We are mindful of desire when we experience it with an embodied awareness, recognizing the sensations and thoughts of wanting as arising and passing phenomena. While this isn't easy, as we cultivate the clear seeing and compassion of Radical Acceptance, we discover we can open fully to this natural force, and remain free in its midst.
If it weren't for desire, the formless would not have come into form and engage creatively.
Where desire ends up causing suffering is when it fixates.
When desire for a certain person's attention becomes an "I have to have" kind of grasping, then identity gets organized around needing that and it becomes very solid and sticky. That causes suffering because we're not inhabiting the fullness of who we are, we're fixated and contracted on life being a certain way.
Observing desire without acting on it enlarges our freedom to choose how we live.
I think of desire as the essence that brings forth the whole universe.
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