Why Bury the Living? Motive behind "Elegy for My Father, Who Is Not Dead"

"I think he wants to go,
a little bit - a new desire
to travel building up, an itch
to see fresh worlds. Or older ones."
This poem kind of confused me. I understood the basic concept of the poem, but I didn't understand how it connects to the title. I have two theories about how they could possibly connect but I'm not sure which, if either, of them is right. The first is that his father is pretty much ready to die. In fact he sort of looks forward to it. The quote above indicates that the father is ready to move on to this new unknown stage. Because of this, the son feels he has already lost his father. My other theory sort of ties into that. The poem says, "He's ready. I am not." Throughout the rest of the poem he describes how he is not certain of a happy afterlife like his father does. This makes me wonder if maybe this significant difference in beliefs of life after death has created a separation between the speaker and his father. This leads him to believe he has lost his father already, and recognizes he will not get to see his father in the happy sense his dad believes they will. I'm not sure which is right or if it's a little bit of both or if it's neither but hopefully I'll be able to gain more insight in class discussions.