Buddha said that desire is the cause of all misery. If your desire does not get fulfilled, it leads to frustration and causes misery. Even if it does get fulfilled, it leaves you empty.
Vasishta said that desire is the cause of pleasure. You get pleasure from an object or a person only when you desire them. When you do not desire an object, you do not get pleasure from it. For example, when a person is hot and thirsty, a sip of cold water gives him pleasure; but not if he is not thirsty. Whatever gives you pleasure binds you and bondage is misery.
Gurudev says when you desire for truth, all other desires drop off. You always desire for something that is not there. But, truth is always there! Desire for truth removes all other desires and it itself dissolves. And what remains is bliss.