Ni hao William, xiang3 does indeed mean ‘miss’ in that sentence. It can also mean “would like to” The reason it translates as miss in that sentence is because when put before a noun, xiang means miss. When put before a verb, it means would like to.

So “Wo3 xiang3 qu4…” would be “I would like to go…” because xiang is before a verb.
“Wo3 xiang3 ni3” is “I miss you.” because it is before a thing.

All thanks to Benny’s teaching. :)