Translators of Poetic Works - Is That a Good Thing?

I translate prose, not being a poet myself. What degree of latitude do you allow yourself in order to make the text more readable and more enjoyable by modern English readers? A very literal translation underestimates the intelligence of the reader. I've never done that. And there, of course, you do have to translate literally. But with Epictetus, he uses a lot more technical stoke vocabulary than I've been used to. So key terms such as ascent, desire and aversion, inclination, which is how I translate Hall-Mare. Those I absolutely translate the same way every time.