Two people keep missing each other. The speaker wants someone only when that person doesn't want them back, and the reverse is just as true. The feelings never line up, and the speaker sounds worn out by it: "What can I do?" The poem opens with the single word "We," as if the relationship exists mainly as a hope.
The car imagery shows how stuck the speaker is. They sit "in neutral," press the gas, and still go nowhere. They pretend to be moving on, but the poem admits this is an act meant to deceive, perhaps themselves as much as anyone. Then the lines get short and plain: "I want it. I want us." The missed bus is a neat image for a chance that has passed.
The last line, echoing the subtitle "Speak. Listen. Learn," shows the speaker has done the first two. The question is whether the third will ever happen. The mood is regretful, restless, and quietly honest.