Wow! I liked this poem.
Very often we tend to set boundaries around us and then dream about new possibilities. It is obvious that we will fail.
Once we fail, we regret and blame our capabilities, but forget that it is the boundary that we set around, forced us to fail.

So if we set boundaries and then dream, it's more like tieing yourself up with a rope and wishing to run, which is not possible.

Set yourself free and set apart to achieve your goals and push yourself as @noelconcepcion19 said, to make it happen.