Are We Children of God?

This has been sticking out in my mind and heart lately.  Is the idea that we are "children" of God instantaneously because we are here, a true statement?  Please consider some quotes from Joseph Smith, from his "King Follet Discourse".  (We have four accounts of this discourse.  I highly enjoyed reading all of them.  They are some of the most beautiful expositions on the nature of God's eternal plan that I have ever read.)

"All men say God created it in the beginning. The very idea lessens man in my estimation. I do not believe the doctrine; I know better. Hear it all ye ends of the world, for God has told me so. Before I get through, I will make a man appear a fool if he doesn't believe it. I am going to tell of things more noble...

God never had power to create the spirit of man at all. God himself could not create himself. Intelligence exists upon a self-existent principle; it is a spirit from age to age, and there is no creation about it...

The first principles of man are self-existent with God. God found himself in the midst of spirits and glory , and because he was greater, he saw proper to institute laws whereby the rest could have the privilege of advancing like himself – that they might have one glory upon another and all the knowledge, power, and glory necessary to save the world of spirits..."

How does this line up with "I am a child of God"?  Or "We are daughters of our Heavenly Father, who loves us and we love Him"?

Another scripture, which further puts forth the nature of our beings.

"Howbeit that he made the greater star; as, also, if there be two spirits, and one shall be more intelligent than the other, yet these two spirits, notwithstanding one is more intelligent than the other, have no beginning; they existed before, they shall have no end, they shall exist after, for they are...eternal." (Abraham 3:18)

This is not to say He did not create our bodies.  Not so.

"In the image of his own body, male and female, created he them, and blessed them, and called their name Adam, in the day when they were created and became living souls in the land upon the footstool of God."

(Moses 6:9)

It appears that He has created our bodies, however our spirits have no beginning or end.

I wonder if understanding our true nature is half the battle in overcoming depression, self-doubt, or overall misery.  Joseph taught that one could not truly know God without understanding the nature of His being (or Be-ing).  It stands to reason that this is just one teaching where we may be a bit skewed, and readjusting direction may help us find greater understanding of God's course for us.