How do I get a better understanding of the poem and what does it mean

The poem interprets itself.

Sri Chinmoy, an Indian Spiritual Master, taught that meditation on the heart brings the light of the soul forward to reach the highest reality as soon as possible.[41] Chinmoy states: “We are all seekers, and our goal is the same: to achieve inner peace, light and joy, to become inseparably one with our Source, and to lead lives full of true satisfaction.”[42]

From Sri Chinmoy - Wikipedia, the free encyclopedia

The poem means that god is beyond karma, beyond happiness and all our deeds belongs to him. The poem inspired from lord krishna and bhagvatgita.