I don't know how you could pick anything out of those choices. The first stanza if you look back a couple of lines, refers to Telemachus (his son). He pays proper homage and kindness to those who honor the gods. Ulysses is very proud of him for doing that.
The second stanza is about the men he sails with who are brave, meeting any challenge through good times and bad (sunshine and thunder). They are free men and they are "stout" meaning that they are real stand up kinds of men ready to go.
The last sentence is about death which the old look forward to.
D is not a bad choice, but it sure leaves out a lot.
I guess D is as good as any, but I'm not sure. This is one of those multiple guesses that one answer could be defended as easily as another. B is not quite as powerful in meaning as D. But don't be surprised if B is the answer.
