Getting into poetry

I hope this is the right kind of thing to post here, because it seems mostly that there are critiques going on more than anything. Oh well, nothing ventured, nothing gained, right?

I'm just asking about the best way to get myself into poetry more, specifically writing it. Pretty vague, and maybe even a stupid question to begin-with, I know, but I think, in this day and age, poetry is seen differently for the most part, and I think it can influence how people get into it in the first place. Thoughts pertaining to rules, proper forms, subject-matter, intent, all those kinds of things. As silly as it may seem, I've even wondered if I know enough to properly get into free-verse, which is contradictory because, isn't that a form that purposefully has no established rules?

And, being honest, I don't even know what kinds of styles I like. The only kind of poetry I've ever properly done to a significant degree is haiku, because I've really appreciated how deceptively simple they are, how so few words can evoke so much feeling and imagery. However, I want go move beyond it. Some modern poetry I like, some classics, but sometimes I find the modern to be too pretentious or ridiculous, and sometimes the classics to be too cliche and flowery. I suppose finding some poets that are simple, direct, and subtle would be a good start.

For one thing, I want to be able to express things better that aren't as easily expressed in structured narrative and fictional characters. Little bursts of emotion, or observation, or whatever, which have sometimes come here and there, and I've felt like I don't have the tools to be able to properly give them voice. Even if there's no real and specific thing going on that I want to express, I've sometimes felt this urge to just get things out, even if they're nonsense or disconnected thoughts. A feeling of want to artistically burst at the seams, to pour things out in a torrent, and I feel like poetry would definitely be a good way to do that.

Anyway, any advice pertaining to things like this would be greatly appreciated!

Well of course it wouldn't just be an emotional dumping-ground. That's generally why I like haiku, because it can convey things in a metaphor without going out of its way to make itself noticed. So, I wouldn't, for instance, use poetry to express how angry I am at someone if they've upset me, but rather to have another way of expressing myself when certain things come up, like just observing nature, or the way people act, or just different things like that. Definitely not the emo nonsense!

Thank you all for your advice and help!

Although, I'm not entirely sure what to think about the electrostatic genitals.