One can never consent to creep when one feels an impulse to soar.
Keller uses the contrast between creeping and soaring to describe a conflict between accepting limitation and pursuing a larger possibility. The image of creeping suggests restricted movement or modest expectations, while soaring represents ambition, freedom and the desire to develop one’s abilities. Her point is that a strong sense of possibility can make deliberate self-limitation difficult to accept.
The quote does not claim that aspiration guarantees success. Instead, it focuses on the impulse to attempt something greater when a person believes more is possible. In that sense, it presents ambition as an expression of character and personal agency. The statement can also be read in the context of Keller’s own experiences of education and independence, although its language is broad enough to apply beyond them. Its central idea is that people may resist settling for constrained expectations when they possess both the desire and the opportunity to pursue more demanding aims.