This is a beautiful fantasy poem! I really like this line "The Prince and his Princess soared to a special star to sit,". To me, this poem meant that the Prince and the Princess (in their minds) shared an overwhelming love in both live and death "Love lives on eternally for the Prince and his Princess."
I know that in writing, you are not supposed to end a sentence with a preposition "The tender caresses while with one another were all they could think of". However, I admit that I do not know if that grammar rules applies to poetry.
Overall, this is a beautiful poem! I really enjoyed reading it!