This poem feels completely different now than in the 60s, I'm sure. Like it's advocating for a techno optimistic dystopia where nobody, not even animals, can be left alone by the countlessly pervasive benevolent machines of faceless masters.
It always reminds me of Donald's Fagan's I.G.Y. - the lyrics are 99% utopian
Here at home we'll play in the city
Powered by the sun
Perfect weather for a streamlined world
There'll be spandex jackets, one for everyone
A just machine to make big decisions
Programmed by fellows with compassion and vision
We'll be clean when their work is done
We'll be eternally free, yes, and eternally young
I'll cite the rest of the work in this same book posted here- none of his poems are shallow, naive, or very optimistic - especially with regard to technology and it's effect on the natural environment.
I do think he intended to leave the reader wondering if he was serious or not.