In conclusion, the bodhisattvas are said to have transcended but not abandoned samsara. Having transcended samsara is because they are no longer bounded by the six realms, completely undefiled and unaffected by samsara. Not abandon samsara is because they have reached the highest state of realization of emptiness but opted to remain forever in samsara as their sole purpose is to benefit sentient beings more effectively. This is the ultimate state, the final goal that we should all aim for. 

~Depicted from From Believers to Boddhisattvas