Yes, we do. Not a perfect understanding, of course, but some image of eternity underlies and permeates our whole religion.
It is you catholics who have so little depth of understanding Who God IS and what He HAS DONE for your deliverance.
If you believed Jesus, believe that He is God with us, then you would know in your heart by the presence of His Holy Spirit that as an eternal being He need make the sacrifice only once and it spans all of time and space inside of this Universe and outside of this Universe. The catholic Mass is a pagan rite meant to herd the lost along their way to the father of lies ... because it is a great lie to say the Mass continues the Cross of Christ.