The poem is very short and deliberately cryptic, so it helps to read it as a small scene. The speaker imagines a future moment of answering someone, giving "the expected words" while something unexpected happens: hands arrive that the speaker wasn't prepared for. It's unclear whose hands they are or whether they bring comfort or threat. That uncertainty is part of the effect.
The opening, "true / in my hate," sets an uneasy tone. The speaker seems to admit that hatred is real and honest, perhaps more honest than the polite words they will say. Then the last lines suggest that sight, the "eye," will play no part. Whatever happens will come from instinct or the body, not from looking or judging. The mood is tense, guarded and a little chilling, as if the speaker knows a gap exists between what they say and what they feel, and can't fully control it.