Beautiful poem which fully explores and illustrates the value of the journey over the destination.
Hope that your journey is a long one.
May there be many summer mornings when,
with what pleasure, what joy,
you come into harbors you're seeing for the first time;
You never know what pleasures you'll find on the journey, but making it a long one gives you more chances at joy before reaching your destination.
Or as another quote will tell us:
Take time to stop and smell the flowers
Living in the moment can bring untold riches.
You are absolutely right. Sometimes we focus too much on goals and lose the enjoyment and the thrill of reaching to a certain destination.