The symmetric closure of a relation $R$ is the intersection of all symmetric relations containing $R$. It is the "most parsimonious way to extend $R$ so it becomes symmetric". It also admits an easy expression: it is $R \cup \hat{R}$, where $\hat{R}$ is the relation which contains $(x,y)$ iff $(y,x)$ is in $R$.
For example, your $R$ has $0R1$, so its symmetric closure $\bar{R}$ must also have $1 \bar{R} 0$. However, it is not the case that $0 R 2$ or $2 R 0$, so it's not the case that $0 \bar{R} 2$.
For $R$ specifically, we have $$\hat{R} = \{(x,y) : (y,x) \in R \} = \{(x,y): y = x+1 \} = \{(x,x+1) : x \in \mathbb{N} \}$$
We also have $$R = \{(y+1,y): y \in \mathbb{N} \}$$
so the symmetric closure is $$R \cup \hat{R} = \{(x, x\pm1): x \in \mathbb{N}^{\geq 1} \} \cup \{(0,1)\}$$