Go travelling with us — Venus

The change from us to her is the key to solve this riddle. Planet Venus is visible before sunrise (called morning star), and after sunset (called evening star). The quotation mark in line one limits other explanations.

"Go travelling with us!"
Her travels daily be
By routes of ecstasy
To Evening's Sea－

(F.1561/J.1513)

[1] us:: morning-star and evening-star.
[2] Her:: Venus, called morning star, or evening star.
[3] ecstasy:: Venus is the goddess of love and fertility.
[4] Evening:: a hint on evening star.

The phrase "Morning Star," or "Evening Star," has, among astronomers, no definite signification. The dictionary applies it only to Venus. Webster defines "Morning Star" to be "the planet Venus, when it precedes the Sun in rising, and is visible in the morning." "Evening Star" is there defined, "Hesperus, or Vesper; Venus when visible in the evening." These are the popular ideas attached to Morning Star and Evening Star. ─ Beckwith's Almanac (1857)