want > lack squire > attendant; knight's attendant late > recently
5 For whom he wondrous pensive grew in mind,
pensive > anxious
6 For doubt of danger which might him betide;
doubt > fear betide > befall
7 For him he loved above all mankind, 8 Having him true and faithful ever tried,
tried > proved
9 And bold, as ever squire that waited by knight's side.
waited > attended; kept watch
305.13