The parable about the sheep and goats is about the time when Jesus returns to this Earth and he will judge all the people, the righteous and the unrighteous. The righteous WILL live forever, with Him in Heaven, and the unrighteous will be cast into the "Lake of Fire" with Satan and will no longer exist. (Actually, the verse I wanted to point out was 46, which says,
"Then they will go away to eternal punishment, but the righteous to eternal life." The word
"punishment" has a different meaning than word "torture".)