Second, if you are able to set a goal then during this setting you can set many constraints, even fundamental ones. There is no reason the goal is more fundamental than the constraint. If I approve, make paperclips. Efficiently make 100 paperclips.
It's the duality of being able to set a rule but not being able to set a constraint that I find a strange concept. I lean towards the picture of not being able to set goals nor constraints at all.