What does Odysseus want?

In Homer’s “The Odyssey”, we see the main protagonist, Odysseus, go through a multitude of difficult and life-threatening tasks, having to utilize his superior intellect as well as apply his inner tactician to survive, but what exactly keeps his head up through all these hardships and losses of companions?

His primary objective is to return to his home town of Ithaca, and rejoice with his family he has longed for for years, and his second, to strike down all the suitors that are rudely occupying his hall.

But at times in the story it seems he is quite stubborn and lustful for other things, for example when he stops at Kirke’s island, instead of departing after saving his comrades, he decides to stay for a year and reside in Kirke’s home, which is simply the human nature of being lazy.