As Hughes states: "I've known rivers. I've known rivers ancient as the world and older than the flow of human blood in human veins." These rivers he has come to known is man, specifically "Negroes", all of them. He continues to speak n behalf of them, presenting their history through the rivers. The Euphrates and the Tigris (Fertile Crescent), The Congo and the Nile, (rivers in Africa), and the last one is the Mississippi, which was explained earlier.
The poem repeats "rivers" very often, here and there, setting its jazzy rhythm. Near the end, "I've known rivers / Ancient, dusky rivers", dusky as in dark, night, black. "My soul has grown deep like the rivers", suggesting the history, the suffering and the journey of his people.