धर्मादिपुरुषार्थचतुष्टयं वाञ्छद्भिः काम्यत इति कामः ;
In plain words
People who long for the four aims of life — dharma first among them — long for Him. He is the one desired: Kāma.
Close to the Sanskrit
By those desiring the fourfold set of human aims beginning with dharma, He is desired — thus, Kāma.