Yes of course. The poet, or the speaker for that matter, wanted to stay there for longer to enjoy the beauty of the snow-covered woods. This is evident in the following lines —

The woods are lovely, dark, and deep,
But I have promises to keep,
And miles to go before I sleep,

So, the poet liked what he came across and wanted to linger there for long, but he regrets that he was unable to, as he had works to do.