Recently I heard an interesting story that I think resonates with the message in this chapter... coming from the legend Kevin Conroy.
Resuming it a lot, when he was young and was doing theater for a living his father got sick and was in his last moments.
He was still conflicted about some things he didn't say to his father and how to visit him in his last moments, then a senior of his after hearing a little about his problems gave the advice that he should go see his father and tell everything he could... because when he finally passed away, if he left those things unsaid, he would live his entire life regretting having not said them.
I am simplifying a lot of the story, and I think I still got some details wrong, but... I think the meaning is the same, that what we regret sometimes isn't the things not done, but the things not said.