Did God create humans because He was lonely?

No.

Everything God creates has one purpose: To Glorify Himself and His righteousness.
Humans are imperfect and yet, are able to come back into fellowship with God through Jesus Christ. God shows His beautiful love and grace through his creation of man.
God didn’t need us. He wanted us to need him.

God is self-sufficient and self-existent.
God is sovereign.
God is love.

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Exodus 3:13-14 — Then Moses said to God, "Behold, I am going to the sons of Israel, and I will say to them, `The God of your fathers has sent me to you.' Now they may say to me, `What is His name?' What shall I say to them?"
God said to Moses, "(Related to the name of God, {YHWH,} rendered {LORD}{,} which is derived from the verb {HAYAH, to be}) I AM WHO I AM"; and He said, "Thus you shall say to the sons of Israel, `I AM has sent me to you."'

Psalm 50:10-12 — "For every beast of the forest is Mine, The cattle on a thousand hills.
"I know every bird of the mountains, And everything that moves in the field is (Or {in My mind;} lit {with Me}) Mine.
"If I were hungry I would not tell you, For the world is Mine, and all it contains.

Colossians 1:16 — For by Him all things were created, {both} in the heavens and on earth, visible and invisible, whether thrones or dominions or rulers or authorities--all things have been created through Him and for Him.

2 Samuel 7:22 — ~"For this reason You are great, O Lord GOD; for there is none like You, and there is no God besides You, according to all that we have heard with our ears.

Isaiah 46:9-11 — "Remember the former things long past, For I am God, and there is no other; {I am} God, and there is no one like Me,
Declaring the end from the beginning, And from ancient times things which have not been done, Saying, `My purpose will be established, And I will accomplish all My good pleasure';
Calling a bird of prey from the east, The man of My purpose from a far country. Truly I have spoken; truly I will bring it to pass. I have planned {it, surely} I will do it.

John 3:16 — "For God so loved the world, that He gave His only begotten Son, that whoever believes in Him shall not perish, but have eternal life.

Romans 5:8 — But God demonstrates His own love toward us, in that while we were yet sinners, Christ died for us.

1 John 4:8 — The one who does not love does not know God, for God is love.

Isaiah 43:7 — Everyone who is called by My name, And whom I have created for My glory, Whom I have formed, even whom I have made."