Do the Palestinians want to live in peace with us?

I will let their own words speak for themselves.

Special Dispatch Series - No. 236

Faysal Al-Husseini in his Last Interview: The Oslo Accords Were a Trojan Horse; The Strategic Goal is the Liberation of Palestine from the [Jordan] River to the [Mediterranean] Sea'
...
he Strategic Goal: A State from the Jordan River to the Mediterranean Sea

Q: "What are the borders of the Palestinian state you are referring to, and what kind of 'Jerusalem' would you accept as the capital of your state?" A: "With this question you are dragging me into talking about what we refer to as our "strategic" goals and our "political" goals, or the phased goals. The "strategic" goals are the "higher goals," the "long-term goals," or the "unwavering goals," the goals that are based on solid Pan-Arab historic rights and principles. Whereas the "political" goals are those goals which were set for a temporary timeframe, considering the [constraints of] the existing international system, the balance of power, our own abilities, and other considerations which "vary" from time to time."
...
"We are [acting] exactly like them. In 1947, in accordance with [the UN] Partition Plan, they decided to declare statehood on 55% of the land of Palestine, which they later increased to 78% during the War of 1948, and then again [increased it] to 100% during the War of 1967. Despite all that, they never attempted to make secret of their long-term goal, which is "Greater Israel" from the Nile to the Euphrates. Similarly, if we agree to declare our state over what is now only 22% of Palestine, meaning the West Bank and Gaza – our ultimate goal is [still] the liberation of all historical Palestine from the [Jordan] River to the [Mediterranean] Sea, even if this means that the conflict will last for another thousand years or for many generations."

Faisal Husseini was a so called Palestinian moderate.

Special Dispatch Series - No. 894

Hamas Political Head: Calming Down is Just a Trick Within the Resistance Plan; Hamas Does Not Object to the '67 Borders as an Interim Solution
"... I cannot be satisfied with the 1967 borders alone and see them as a permanent solution... A Palestinian might say: 'Who gave you the right to forego the rights of Palestinians?' So Abu Mazen himself says, in his talks: 'I cannot forego the right of return.' It will be his political suicide, for there are 5-6 million whose problem must be solved. However, Hamas has no objection to accept the 1967 borders as an interim solution.

Yasir Arafat's Timeline of Terror
Oct. 21, 1996: Speaking at a rally near Bethlehem, Arafat said "We know only one word - jihad. jihad, jihad, jihad. Whoever does not like it can drink from the Dead Sea or from the Sea of Gaza." (Yediot Ahronot, October 23, 1996)

In a statement published in the official Palestinian Authority newspaper Al-Hayat Al-Jadeeda, Arafat is quoted: "O my dear ones on the occupied lands, relatives and friends throughout Palestine and the diaspora, my colleagues in struggle and in arms, my colleagues in struggle and in jihad...Intensify the revolution and the blessed intifada...We must burn the ground under the feet of the invaders."

This was of course during late 1990's when the Oslo Peace Accords were still going strong.