It is a good idea to take a good look at the market and try to work out why houses have sold at the prices they have; decoration, outdoor space, potential for extension, proximity to schools, stations, busy roads, railway lines, proximity to shops, other good areas, not so good areas, are there are large developments planned nearby, what are the other hides in the street like?
Advertised prices might be high because the estate agent / owner is overly optimistic or low to get a quick sale.
If having looked at the market, you genuinely think the house is worth its asking price (and you are not in Scotland.. I know things are different there), then putting an offer close to asking is not such a crazy idea. Remember you are in a great position, first time buyers, nothing to sell and from what you have said, finance should be straightforward. Do you already have a mortgage offer?
In the end, if you love the house and want it more than anything else you have seen, then it is worth the asking price to you.