Goal is a synonym of Task. Task is related to Drive. Drive is related to Manage. Managing is a form of Manage. 
Desire is a type of Tendency. Desire is related to Passion. 
Goal <--Synonym--> Task <--RelatedTo--> Drive <--RelatedTo--> Manage <--FormOf-- Managing 
Tendency <--IsA-- Desire <--RelatedTo--> Passion 