Let your actions follow your goal. Set a new standard for yourself that you don’t currently meet. As soon as you do this, you’re in a failure state. So fail for a while, but with a direction. Work toward not failing.
The other way around: Let your goals follow your actions. Try shit. Explore. And… what? Declare that you’re “better” when you realize you’ve met some new standard?
Does the road get paved ahead of you or behind you?
It’s a trick question. Path one can’t exist without path two, and vice versa. You need to explore to decide which goals are worth heading toward. You need goals to have a reason to explore.