The inhabitants of Satya-yuga and other ages eagerly desire to take birth in this age of kali.

“The Vedas contain information of past, present and future living conditions throughout the universe. This is not very wonderful. For example, although at present time in India we are experiencing spring weather, we know that in the future the torrid summer will come, followed by the rainy season, autumn and eventually winter and a new spring. Similarly, we know that these seasons have occurred repeatedly in the past. Thus, just as ordinary human beings can understand the past, present and future seasons of the earth, the liberated followers of Vedic culture can easily understand the past, present and future conditions of the seasonal ages of the earth and other planets. The inhabitants of Satya-yuga are certainly aware of the conditions of Kali-yuga. They know that in Kali-yuga the difficult material situation forces the living entity to take complete shelter of the Supreme Personality of Godhead and that the inhabitants of Kali-yuga therefore develop a high degree of love of Godhead. Therefore although the inhabitants of Satya-yuga are far more sinless, truthful and self-controlled than the people of other ages, they desire to take birth in Kali-yuga in order to taste pure love of Kṛṣṇa.

Without associating with the devotees of the Lord no one can become an advanced devotee of the Lord. Therefore, since in Kali-yuga other Vedic processes collapse due to the unfavorable condition, and since the only authorized Vedic process is the devotional chanting of the Lord’s holy name, which is available to everyone, there will undoubtedly be innumerable Vaiṣṇavas, or devotees of the Lord, in this age. Birth in this age is very favorable for one who is eager to associate with the devotees. In fact, the Kṛṣṇa consciousness movement is establishing authorized Vaiṣṇava temples throughout the world so that in innumerable areas one may avail himself of association with pure Vaiṣṇavas.

Association with the devotees of the Lord is far more valuable than any amount of association with persons who are merely self-controlled, sinless or expert in Vedic scholarship. Therefore it is stated in Śrīmad-Bhāgavatam (6.14.5):

muktānām api siddhānāṁ nārāyaṇa-parāyaṇaḥ
su-durlabhaḥ praśāntātmā koṭiṣv api mahā-mune

“O great sage, among many millions who are liberated and perfect in knowledge of liberation, one may be a devotee of Lord Nārāyaṇa, or Kṛṣṇa. Such devotees, who are fully peaceful, are extremely rare.” Similarly, it is stated in Caitanya-caritāmṛta (Madhya 22.54):

‘sādhu-saṅga’, ‘sādhu-saṅga’ — sarva-śāstre kaya
lava-mātra sādhu-saṅge sarva-siddhi haya

“The verdict of all revealed scriptures is that by even a moment’s association with a pure devotee, one can attain all success.”

Source: A.C. Bhaktivedanta Swami Prabhupada (2014 edition), “Srimad Bhagavatam”, Eleventh Canto, Chapter 05 – Text 38-40.