Poet feels more at home with animals than with humans because animals are calm and quiet. They possess all the good virtues that humans had possessed once. They don't make poet sick by reminding him about his duties towards God.
Unlike animals, humans commit sins and spend nights crying and repenting for them. They are selfish and praise or show respect towards others only for their own selfish motives. They are demented with mania of owning things whereas animals are self satisfied and happy in their own environment.
Hence poet feels more at home with animals rather than humans.