It doesn't state that "he" didn't want to "take me on", it says that this is a thing that he was not going to do.
It could be that "he" didn't want to, it could be that he didn't have time, there was a full roster of people participating and no more could be added, that as much as he really did want to include the speaker they lacked the prerequisite skill at the task in question, or anything else.
We're informed of the lack of action, not of the motivation.
We can sometimes infer that the reason someone wouldn't do something is that they don't want to, but not always, and not here (in the bare sentence at least, perhaps in the full passage we can).