To me, this song seems to be about how fake people can be - 'embrace you, but they really mean so long': how people can say or do one thing to you but mean something completely different.
He either misses someone, or maybe is desperate to become part of the group of beautiful people. I think it's more of the latter, from 'we will come and dance with you, we want to learn'. It's interesting how the pronoun is we, not I (in this part of the song) but there we go, maybe it just sounded better.