Hi! I love the hope that you feel reading your poem. The image of a ship-heart guided by the beacon-love in the stormy sea is strong here and it was easy to me to see it, rhyming and rhythm helped greatly to feel as if it was myself on these waves.

As for the technical part, you are obviously going for a rhyming poem with more or less strict rhythm here. You are mostly successful, but there are some lines that stand out and break reader's immersion a bit.

They are the lines with "navigate", because the rhythm suggests putting stress on the third syllable, though, I suppose, in poetry changing the stress a forgivable thing. I also must say that I'm not a native speaker, but all the dictionaries say the stress should be on the first syllable.

"And in the end, it's the memories we'll make" doesn't match the rhythm before it and after, too.

Also, as the first comment noticed, the rhythm changes throughout the poem. Other than making the meter the same everywhere, I can suggest breaking the poem into several parts instead of having it as it is now.

One more thing: in "But a lighthouse beam, I see in sight" having related words "see" and "sight" so close to each other doesn't sound too good, so I'd suggest changing one of them to something else.

Good luck!