Theory:

And in fighting for their country, faith and king
noble impressions on people’s minds would ring
that even through the ages are held in high esteem
those knights in shinning armour do now all seem.
 
There are many legends based on their heroic exploits
a legacy of tales which have been told with much adroit
highlighting aspects of human wisdom related to virtue and vice
and the lessons to be learnt are those of goodness and sacrifice.
 
History usually repeats itself time and again
as it often happens a situation comes when
we’re asked to do something for a just cause
and acting with chivalry we shouldn’t pause.
Explanation:
 
The knights and the soldiers would fight for their country with loyalty. They would be devoted to their King. They had to create a good impression in the minds of their countrymen, and the people held them in high esteem, those knights who wore shining armour, made of metal.
 
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Armour

There are many stories based on their bravery and the heroic things which they did. There a list of tales told with much hype, wherein they highlight the cleverness and wisdom of those human beings with righteousness. These tales teach us the lesson of sacrifice and their good deeds.

As we know, the saying goes that history repeats itself, so they ask everyone to do something or act in some situation, just because we cannot stop.
 
Meanings of difficult words:
 
Numbers
Word
Meanings
1.
Legacy Inheritance.
2.
ExploitsMake full use of.
3.
AdroitAgile.
4.
EsteemAdmire.
Reference:
State Council of Educational Research and Training (2019). Term-2 English Standard-7. The Poem of Adventure - George Krokos. (pp. 98-100). Published by the Tamil Nadu Textbook and Educational Services Corporation.