Bob's poem is about loneliness and the comfort a person finds in the night sky. The speaker watches the stars from a window and hears their twinkling as a lullaby. Yet sleep won't come, and the stars seem to follow them into their dreams. The speaker calls the stars their only friends, ones who will never leave, never stray, and never cause pain. That suggests people in the speaker's life have let them down. They even tell the stars their secrets, as you might confide in a close friend.
The mood starts out gentle and soothing, but it grows sadder as the poem goes on. The speaker wishes the stars were there in the daytime too, then asks to be taken away from a "wicked world." The last lines, about leaving "without a trace," are quietly troubling. They suggest a deep wish to escape, and a longing to disappear rather than just a love of stargazing. The simple, plain language makes the feeling seem honest and raw.