I don't entirely agree. I don't think we can be without desires; we are human beings with impulses, and to be without those is to be without the things which actually make us human (I got that from The Matrix by the way). Breathing and eating for instance, are desires and you can't be without them. Desires after those are what drive us forwards as a race, and a number of the most significant things we have now are the manifested forms of mass desires we have had.
Cutlery comes from a mass desire to consume food more easily. Central heating comes from a mass desire to be warm during the winter. The autumn revolutions in Eastern Europe in 1989 came from a mass desire to be free of a repressive way of being governed. The internet comes from a mass desire to know more, and communicate more easily with the rest of the world. Without desires driving us forwards, we wouldn't progress, and we would still be living in the dark ages, rubbing sticks together.
The balancing act though comes from realising that all desires come from within us first. The desire to be happy and feel good, and everything else stems from that. Everything else is attracted BY that, but the mistake a lot of people make is to think that you get the manifested form first (flash car, nice house, lots of money etc) and THEN you will be happy and feel good. It's the other way round, and once you are happy and feeling good, then your desires come. They also differ from person to person, and the Universe knows what your unique desires are (and the best ways to bring them to you). When you are happy and feeling good (in alignment) it then delivers them into your life.