From my experiences I find it's attachment to desire that causes suffering not desire alone. If you try to eliminate desire then you are desiring not to desire... Attachments are transient so we will always suffer loss which causes suffering, The only constant thing in our lives is change, we desire to control our lives and make them permanently fixed and when we realize it's impossible to go against the natural force of the universe then it causes suffering.
Desire all you want, but without the attachment
Easier said than done though, sometimes....