Srimad-Bhagavatam: Canto 11 - Chapter 1 - Verse 12

Sanskrit:

देवानामोक आसीत् स्वर्भूतानां च भुवः पदम् ।मर्त्यादीनां च भूर्लोकः सिद्धानां त्रितयात् परम् ॥ १२ ॥

ITRANS:

devānām oka āsīt svarbhūtānāṁ ca bhuvaḥ padammartyādīnāṁ ca bhūr lokaḥsiddhānāṁ tritayāt param

Translation:

Heaven was established as the residence of the demigods, Bhuvarloka as that of the ghostly spirits, and the earth system as the place of human beings and other mortal creatures. Those mystics who strive for liberation are promoted beyond these three divisions.

Purport:

Planets such as Indraloka and Candraloka are meant for the heavenly enjoyment of the most pious fruitive workers. The highest four planets, however, Satyaloka, Maharloka, Janoloka and Tapoloka, are meant for those who are most perfectly endeavoring for liberation. Caitanya Mahāprabhu is so inconceivably merciful that He is promoting the most fallen victims of Kali-yuga beyond these four planets and even beyond Vaikuṇṭha, to the supreme planet of Lord Kṛṣṇa in the spiritual sky, called Goloka Vṛndāvana. Śrīla Bhaktisiddhānta Sarasvatī Ṭhākura explains that heaven is the residence of the demigods, the earth is the residence of the human beings, and in between is a temporary residence for both classes of beings.