The Prelude by Wordsworth question

Somewhere early in The Prelude there's: The earth is all before me. With a heart Joyous, nor scared at its own liberty, I look about; and should the chosen guide Be nothing better than a wandering cloud,

Does "With a heart Joyous, nor scared at its own liberty", has a bit the same idea as Kiplings line "If you can meet with Triumph and Disaster And treat those two impostors just the same;" or why else would he say that he is neither Joyous nor scared?

Also I'm not so sure about "and should the chosen guide Be nothing better than a wandering cloud,"
My guess would be that he doesn't need some weighty authority

Thanks a lot!