How is Quran 9:29 interpreted by classical scholars? "Fight those who believe not in Allah nor the Last Day..."

Quran 9:29 says: > **Sahih International:** Fight those who do not believe in Allah or in the Last Day and who do not consider unlawful what Allah and His > Messenger have made unlawful and who do not adopt the religion of > truth from those who were given the Scripture - [fight] until they > give the jizyah willingly while they are humbled. > > **Yusuf Ali:** Fight those who believe not in Allah nor the Last Day, nor hold that forbidden which hath been forbidden by Allah and His > Messenger, nor acknowledge the religion of Truth, (even if they are) > of the People of the Book, until they pay the Jizya with willing > submission, and feel themselves subdued. How is this ayat be interpreted? Does it mean that Muslims are responsible to physically fight non-believers? Reference: Quran.com