What is the Christian Doctrine that balances God's self-sufficiency and perfection with His wants or desires?

I am a Christian wrestling with some doubts lately, and this is one of the most difficult questions I have. I have seen related questions like "Why does God desire glorification?" and "Does God need us?" but I'm not concerned with the why. The commonly given answers to these types of questions are usually some sort of denial of need on God's behalf, and that he "wants" something. He created because he wanted to be glorified, to love us, for his pleasure, etc. I cannot reconcile that a good, perfect, self-sufficient being would have want or desire. Desires imply something lacking, that when obtained, would add something. If I do not need something but want it, it still indicates there is lack, just not necessary lack. If there is something lacking, then there is not perfection. Is there a Christian Doctrine that satisfies this quandary?