The speaker does not take the road less traveled because there is no road less traveled; there is only the road not taken. The speaker of the poem says that the two roads are "worn...about the same" by the people that have "pass[ed] there," and this indicates that about the same number of people have taken each road—one is not any more or less traveled than the other (9–10).
He describes the second road as being "just as fair" as the first as well as that "both that morning equally lay / In leaves" that no one had walked on with muddy feet (11–12). The roads may be a bit different in appearance, but they have been traveled about the same number of times. Perhaps the speaker plans to say that he took the "road less traveled" in the future because he will want people to think that he is unique or that he makes courageous choices, or perhaps he will tell people this later because we all have a tendency to embellish our memories and even make ourselves seem better or smarter or braver than we actually were.
It is unlikely that he will come back to try the other road someday because "way leads on to way" (14). Once we pick one road, that leads to the next and to the next, and it can either be too hard or even impossible to get back to where we started from. Further, if we consider the roads as symbols of different choices we make in life, we can rarely go back and undo a choice we've already made; we must forge ahead, hoping to avoid mistakes or figurative wrong turns in the future.