I can try to explain what he is saying, and then try to rewrite it.
Basically, what Morgan Freeman is saying is that if you live you whole life not living to your full potential, not experienceing new things, or even just trying something new; you'll never really love a life woth living.
You'll always be stuck in a fantasy, never knowing your true self or the world around you. Stuck in a endless cycle of choices you know you want to live, but never really experienceing.
You habe to be willing to challange yourself: do things that seem scary or new. When you do that, your life will be worth more to yourself and the world around you.
Thahts my take anyway, I hope it helps.
