Joy rather than happiness is the goal of life for joy is the emotion which accompanies our fulfilling our natures as human beings. It is based on the experience of one's identity as a being of worth and dignity.
The relationship between commitment and doubt is by no means an antagonistic...
It evolved from my experience in the fifties growing up during the McCarthy...
So I suppose poetry language the shaping of it was and remains for me an effort to make sense out of essentially senseless situations.