In a review of Auberge, Mike Daly of The Age described "Heaven" as "serene" with "gorgeous guitars by Rea and Drennan". He also noted the song as being one of a number of tracks on Auberge to be "strong on optimism" with "positive statements". Deborah Hornblow of the Hartford Courant commented: "On the gentle, evocative "Heaven", the lines 'Happy, boy you bet I am; Holding onto this smile for just as long as I can' are enriched and counterpointed by the sound of Rea's low, heavily weathered rasp."
