The poem opens with a small choice: should the speaker walk with a stick, or talk with a poet? Both are ways of getting along a road. A stick steadies your body, while a conversation with a poet steadies something else, perhaps your thinking. The speaker doesn't answer the question, and that open-endedness gives the poem its light, wondering tone.
Then the poem widens. "Road to road" suggests a life of moving from one path to the next, and the closing lines, "we are all things / on foot," fold everyone, and maybe everything, into one shared condition: we are all travelling, all in motion. The word "things" is interesting. It's humble and a little odd, as if people, sticks and poets were all just objects making their way along. The title, "Pedestrian," plays on this too, since it means someone walking but can also suggest the ordinary. The mood is calm, curious and gently humorous, finding quiet dignity in simply being on the move.