Write a poem that includes subject matter close to your heart. The form you use isn't the most important element. Let the words of your poem dictate whether or not you rhyme lines and how you structure the rhythm (stressed and unstressed syllables) of your poem. If the subject of your poem is one you care about, the truth of the words will come through when you read your poem.
Write your poems using a variety of techniques to determine what approach is best. While some poems may benefit from a more metaphorical approach, don't force metaphors, similes or other figures of speech simply to make your poem sound more like what you might be accustomed to thinking a poem should be. Poems don't necessarily need to be ambiguous to be meaningful or considered poetry. Some poems will benefit from a straightforward, direct use of language that more people will understand.
Revise your first draft. Poems are short and often come in the heat of the moment. Read back over your first draft and cut any words that do not give a concrete description or move the idea of your poem forward. Read the poem aloud, listening for the rhythm. Where you place the stressed and unstressed syllables should come naturally when you read the poem. Make changes to your poem that aim to eliminate empty words and replace them with concrete words. Revise any lines that feel clumsy when you read them.
Avoid forcing yourself to revise your poems according to ideas you started with. The beauty of writing is that the words often flow when you find the right structure. Don't be afraid to change the rhyme scheme or the language you're using in the second or third draft. Let the poem breathe and grow as you write it. Allow yourself to change your initial ideas for the poems structure if the poem itself suggests change. When you feel you have a finished draft, set the poem aside for two or three days before you read it to yourself. This will allow you time to separate yourself from the work and can help give a more accurate analysis of the poem when you read it back.
Read your finished poem in front of an audience. Pay attention to the natural pauses in the poem as well as the rhythm. It's a good idea to memorize the poem before you read it, which will allow you to concentrate more on the rhythm of the reading rather than what you're going to say next. Watch your audience as you speak to gauge the reaction on their faces. This will help you determine if you've accomplished your goal with your poem.