The writer of the book of Hebrews is bold in his application of the principle of greater prophetic fulfillment, in writing that if Joshua had given [the children of Israel] rest, God would not later have spoken of a remaining “rest”.
His conclusion is “there remains therefore a rest for God’s people” — one in which they can cease from self-effort, and by faith accept the salvation that is available to them in Jesus Christ (Hebrews 4:1-11).
The writer of Hebrews was bold because God actually gave “rest” to Israel (Joshua 23:1). However, that historical “rest” cannot be compared to the greater “rest” — total cessation from dead works of religious effort. This latter rest is experienced by those who have placed their trust in the finished work of the Cross.
We can view the prophetic history of the Jewish people as realized in a limited way historically, or we can see it as fully realized only in the lives of Christians. This is not the imperial view of Christianity, which minimizes Jewish history, but the empirical view of Christians, which recognizes Jewish history, yet sees its greater fulfilment in the Lord Jesus Christ and in their personal experience.
I managed furniture stores in my twenties, and sold beds of many kinds, so I can say from experience that the best rest is not on any bed that’s available, but on the very best bed that money can buy.
The “rest” that Joshua brought the children of Israel into after forty years in the wilderness cannot be compared with the “rest” that we who believe in Jesus Christ came into after ceasing from our own efforts to please God and when instead took our “rest” in the “finished” work of the Cross, and the salvation that’s free to every believer.
Jesus said: “If you are tired from carrying heavy burdens, come to me, and I will give you rest.” (Matthew 11:28) So, don’t just sleep but sleep well!