1. Begin with an emotion based on a personal experience (joy, fear, loneliness, wonder, curiosity, etc.).
2. Transfer that emotion into words that are pleasing to read and not predictable or cliché.
3. (optional) Give your poem perfect meter and rhyme while still following step 2.
The goal is for the reader to experience that emotion with you through your writing. If you can do that, you will attain some success as a poet.