The verb "pidama" in this context is more like the model verb must:
Ma pean korraks ära minema. = I must go away for a moment
(or I have to go away for a moment)
I should go away... would be Ma peaksin korraks ära minema.
P.S: the verb pidama (when it means must) is one of such verbs that requires the secondary verb to use ma-infinitive: pean minema, pead tulema, peab olema, pidime tegema, etc...
Ma armastan vihmas edasi-tagasi hüpata. = I love to jump forth-back in the rain
P.S: to jump - hence the usage of da-infinitive hüpata.
I can manage,
trying to learn,
unfortunately, slowly fading away