Does "I fancied he was fled" mean "I imagined that he fled"?

Context:

A ruddy drop of manly blood
The surging sea outweighs,
The world uncertain comes and goes,
The lover rooted stays.
I fancied he was fled,
And, after many a year,
Glowed unexhausted kindliness
Like daily sunrise there.
My careful heart was free again, �
O friend, my bosom said,
Through thee alone the sky is arched,
Through thee the rose is red,
All things through thee take nobler form,
And look beyond the earth,
And is the mill-round of our fate
A sun-path in thy worth.
Me too thy nobleness has taught
To master my despair;
The fountains of my hidden life
Are through thy friendship fair.

- Ralph
Waldo
Emerson
Texts