If she had asked most gypsies what their wishes were, travel would probably be in there. They were a nomadic people, after all, and Clopin had been stationary in Paris much longer than he had stayed anywhere else.
He arched an eyebrow, giving it some thought as he looked out at the city. "There are many places outside of Paris that I would like to see again," he conceded, "and even more places I want to go to for the first time, even if I don't know what they are yet." Although it went without saying that it would be dangerous, he had faith in his and Esmeralda's street smarts and ability to protect themselves.
Clopin had more regrets than anyone should have to have. He remembered every mistake he made, every gypsy hanged or beheaded or burned... It aged him, even if he didn't show it. It really did.
But even so, were it a choice, he'd prefer Esmeralda have the chance to run free over him. He's satisfied with the work he's done, even if he hasn't had the chance to live for himself in a long time. Esmeralda? She still has many years to live.