In plain words
The poet, to the Lord of Araṅgam: They let go of the things that only seem lofty, know the true nature of the self fully, learn what befits it [service to you], hold the five senses within, sever root and all every attachment to other means and shear the burden [of saving themselves] from their heads, and live on staying at your doorstep: do you not delight in these idlers, who take no care for themselves, O Lord of Araṅgam ringed by waters!