as far as I know there are a few things wrong here:

1. we don't fall towards earth at 9.81 fps, the earth's gravitational force accelerates us at 9.81 m/s², that's why we even feel the force (think of sitting in a car, you aren't able to feel how fast you are going, but when you accelerate you are pressed into your seat).
2. gravity actually is a force, it's one of the 4(?) natural forces of which some can be explained better and some worse. The other 3 forces are the weak force, the strong force, and the electromagnetic force
3. I think you are referencing Einstein's thoughts about relativity. He said something like acceleration through space and the gravitational force work in the same way, if you are in a closed room (say an elevator), you can't differentiate if there is a gravitational force pulling you down, or if the elevator is going up and pressing against you.