The speaker begins by admitting a habit: keeping goals at a distance so they stay shiny. Up close, they fear, achievements might rust, or the drive to chase them might vanish. The result is a kind of trap. Always staring at the stars, the speaker forgets to actually walk toward them.
The second stanza turns this around. Once the speaker's feet are on the ground, the mood lifts. "Dancing in the soil" suggests that ordinary work, even toil, can feel joyful. The speaker breathes the air, tastes the life right here, and feels free. The closing phrase, "mundane life of glory," pulls together two ideas that seem opposed: the everyday and the grand.
The tone shifts from restless and self-doubting to warm, energetic and celebratory. The poem's message seems to be that satisfaction lives in the present, not only in distant achievements.