there are not now kings, nor Caesars, nor givers of gold, as once there were when they, the greatest, among themselves performed valorous deeds and with a most lordly majesty lived. (82-85)
The speaker expresses dissatisfaction with the kings of his times, because they're just not nearly as awesome as the kings from the past. Of course, how could anyone compare to those he seems to regard almost as gods, describing them as "the greatest" and living with "a most lordly majesty"? That's a tough act to follow.