Has President Joe Biden made any public statements on wanting to run for a second term?

Joe Biden, being older than any other serving US president in history, arguably has a more realistic option of simply retiring after a single term than his younger predecessors did

Has President Joe Biden made any statement about, or otherwise indicated, if he aims to be President for 4, or for 8 years?

The reason for this question is that a President's goal and motivation of the first of two terms is typically somewhat different than the goal of the final term, which would likely influence their policies.