He felt that beauty could be found in nature, especially through the making of symbols, via nature. It wasn't so much the Romantic idea of beauty that Emerson was interested in, rather he wanted to discover beauty in the mundane and everyday. He believed that the Poet had an ability to see or understand this beauty, whereas others did not have this ability. Here we see the magnitude of Emerson's belief in art and more specifically, in poetry. Also, he seems to be suggesting that we all feel an intense connection to nature, yet we don't recognize it, or if we do, we don't attempt to express that connection.
Circles have no angles and no clear beginning or end.
Emerson suggests here that the Poet is as much a part of the world as anyone, yet he has an ability to know and express the beauty that others could see if they would allow themselves to. Note the way Emerson often uses the first sentence of some paragraphs to define the Poet. This is a very clear and direct definition of the Poet whom Emerson describes. He boldly states that he isn't interested in men of 'poetical talents' but interested in a true Poet one that he hasn't yet discovered. Also, note the way Emerson applies his own experiences with poetry to the more universal that he writes about in this essay.