The poem makes a few explicit statements on these themes, and some implicit statements. The explicit statements are found in this section of the poem:
For he's the super realist
who must perforce perceive
before the taking of each stance or step
in his supposed advance
toward that still higher perch
where Beauty stands and waits
to start her death-defying leap
Here the primary explicit statements about truth is that it is linked to a realistic view of existence and that the poet can reach it. Regarding beauty, the poem explicitly states that it is accessible, and that perceiving truth is a necessary step to reaching it.
Moving to the implicit, the ongoing image of the poet as acrobat implies great risk, and that the poet's art elevates him (in the poem) to realms others can't reach. There's great difficulty, and beauty seems to consciously elude the poet, or at least, position her self at a distance.