A lot of people /don't/ want to stay on Earth.
(And people also want to go to Antarctica... There are multiple "colonies" there, by Chile and Argentina, thousands live there in the summer, and about a thousand people winter over there, and tens of thousands of tourists travel there annually... All this in a place that is illegal to mine, illegal to claim nationally, and even illegal to build new permanent structures by international treaty, thus essentially illegal to build a city or anything like a real economy, which would require mining at least for gravel.)
The interesting thing about people is that there are many different kinds with many different motivations.
Although I do suspect that space settlements will be even more urbanized and centralized than Earth cities. The extra costs associated with living in space are reduced by living in larger settlements/cities (think surface area to volume ratio), and just like on Earth, economic productivity will increase with increasing population density.