What could a lay follower do to increase his zeal to become a monk?

I wasn't lucky enough to be born in a Buddhist society and I only discovered Buddhism late in life mainly because of my innate dissatisfaction with life as a whole. Actually, I was born into a middle-class family and life wasn't that grim when I grow up, but even at my young age, I saw life as a journey that one has to pass through without his will. Funny enough, I used to envy old people because I thought that they are approaching freedom which is death. Obviously, I was wrong, death according to Buddhism is just one step in the cycle, I mean for those of us trading the circle of Samsara. Now, I'm convinced and I have faith in the teaching of the Buddha, but I sometimes fear that I'm too old to abandon the world and become a monk. I'm in my mid thirty have I missed the boat? I have vowed to follow all precepts stated for the lay followed, however, I don't want to feel comfortable in the worldly life and I want to maintain my zeal to become a monk, if not now may be in the next life. What should I do friends? Many thanks.