That is a brilliant piece and as you say is a wonderful reflection of society and the elderly when Wordsworth was around. I also really like the poem you posted, Rosie. It's a very motivational poem I think :).
I personally don't have a favourite poem. I always seem to find a poem I really like but come across another that is brilliantly written and has a new effect on me. I really enjoy poems and short stories written by Edgar Allen Poe, whom I discovered recently. He is a very famous author and I like his darker work. Everyone knows
The Raven for example :).