One, it's a matter of mass versus gravity. Two, we couldn't be any closer because there's either be a collision with venus or a collision with the sun because we'd get pulled in. Which is still a matter of gravity...
But basically, when our solar system was being formed, as enough dust collected to create the planets that are there, they got pulled in only so far to the sun, at which point I'm assuming (but not 100% sure) that they stopped collecting cosmic dust and actually start forming their atmospheres - or I could be wrong, everything may have been forming along the way. Everyone calls it a cosmic fluke, but really, it isn't. The same thing happens in every solar system in the universe, just not all planets can bear life :P
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