The church was to be built upon who Christ is, not humans, the church belongs to Christ and the church is the people, the people who belong to Christ. The church was established soon after Pentecost. The Catholic church was established hundreds of years later. The Catholic church has much wrong with it according to the NT scriptures. IMHO no denomination has everything right, I'm a Southern Baptist but I do not agree with some of the main beliefs of the denomination, doesn't make me not a Southern Baptist, just one who disagrees with some of the doctrine. So it really is simple, all that belong to Christ belong to His church and will be part of the everlasting Kingdom of Christ.
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God loves those who believe and those who do not and the same goes for me, you have no choice in this matter. That puts the matter of total free will to rest.