The speaker begins in an uncomfortable middle ground: "between discontent and desire." They are unhappy with where they are, and they want something else, though the poem doesn't say exactly what. Instead of staying stuck, the speaker makes a choice. They are "willing to mix / my fortune with the wind," which means giving up some control and letting chance carry their life somewhere new.
The last two lines add a nice twist. The ships the speaker is ready for are the ones "in all my books." That suggests a person who has done their travelling through reading, and who now wants those stories to become real. The title "Voyager" fits this idea of someone about to set out.
The mood is hopeful and a little daring. There is restlessness, but the tone is calm and open rather than anxious. The short lines feel light, almost like a sail catching a breeze, and the poem ends on readiness rather than on any actual journey.