As I understand it, undecidability means that there exists no proofs or contradictions of a statement.
So if you've proved $X$ is undecidable then there are no contradictions to $X$, so $X$ always holds, so $X$ is true. Similarly though, if $X$ is undecidable then $\lnot X$ is undecidable. But again, this would mean $\lnot X$ is true which is a contradiction.
There is no contradiction of $S$ doesn't mean $S$ is true.
The standard way is to construct "models" which satisfy all the axioms yet the statement is true in some model but false in some other model.
A famous example, the parallel postulate is independent from neutral geometry. There exists Euclidean geometry, of which the postulate hold; but also Non-euclidean geometry, of which the postulate fails.