Essentially, two people looking back on their relationship with all its twists and turns: sometimes they'd stumble but they stuck by each other. I get the impression of two college-age people or high-school sweethearts in the summer after graduation, looking back on their life together. Deciding that they turned out alright in the end ("We were not the worst we've ever been"). The last three lines pretty much sum it up: live life your way (very Thoreau).
Essentially, two people looking back on their relationship with all its twists and turns: sometimes they'd stumble but they stuck by each other. I get the impression of two college-age people or high-school sweethearts in the summer after graduation, looking back on their life together. Deciding that they turned out alright in the end ("We were not the worst we've ever been"). The last three lines pretty much sum it up: live life your way (very Thoreau).