Well, since the metric is assymptotically flat, in $\infty$, $t$ and $\tau$ do indeed coincide, so you can view the time coordinate $t$ as the time measured by an inertial observer at infinity.
The radial coordinate $r$ is actually more of an "areal" coordinate. Consider 2-surfaces of constanat $t=T_0$ and $r=R_0$. Then the induced metric on the 2-surfaces are just the spherical metrics $$ ds^2=R_0^2(d\vartheta^2+\sin^2\vartheta d\varphi^2), $$ which implies the area of the 2-surfaces are $$ \text{Area}(t=T_0,r=R_0)=\iint R_0^2\sin\vartheta\ d\vartheta d\varphi=2\pi R_0^2\cdot[-\cos\vartheta]_{0}^{\pi}=4\pi R_0^2, $$ which is of course, the surface area of 2-spheres in euclidean space.
Therefore, we can say that the $r$ coordinate denotes the points occupied by origin-centric spheres whose surface areas are $4\pi r$.
Because the part of the metric that contains the angular coordinates $\vartheta$ and $\varphi$ is the same as the spherical metric in euclidean space, the angular coordinates have the usual meaning.