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Ulysses loves to travel and has loads of energy, whereas his son is content to stay at home. He is anxious to go onto his next journey; he is experienced, and he desires new experiences.
Telemachus is content to rule, just to get by and keep the people happy. Ulysses believes that his son will be a good ruler, that he will be honorable, but that his life will be boring. And..... that that Telemachus will like it that way.