[3] On July 28, 2023, Brandon Lake and Phil Wickham released "People of Heaven" as a standalone single.

[1][4] The song was written for the purpose of closing out the Summer Worship Nights Tour dates, in August 2023.

[5][6] "People of Heaven" is composed in the key of D♭ with a tempo of 128 beats per minute and a musical time signature of 44.

"[8] Writing for Air1, Scott Savage opined "The song certainly makes you want to move and the tone is intended to bring joy and vibrancy when listened to or sung in a group.

Beyond good vibes, the song intends to remind listeners of what Jesus has done for us and what we’ve received from Him in our salvation.