Yes and no. You can't necessarily create 'goals', however - we make our Progress Metrics customizable for a similar purpose.
You can add a "Plain Text" or "Auto Message" going out to them so that they know their goals of daily steps.
One suggestion would be to make a Plain Text specific to them named "Daily Goals" and it would have the specific items you'd like for them to hit (targets). Example: 10,000 Steps.
Then the progress metric on their schedule can be tracked according to how much they've completed!
Learn more about our Progress Metrics here in the "Global Settings" section: https://mycoachai.com/resources/onboarding/#system-videos
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