Are setting worldly goals such as "God's pleasure" and "humility to God" considered innovations (bidʻah)?

There is no harm for a servant to set goals and strive to achieve them. Indeed, the pious predecessors had goals they pursued, seeking the pleasure of Allah the Almighty. An example of this is a man asking the Messenger of Allah, peace and blessings be upon him, about softening his heart, and he guided him to feed the poor and caress the orphan's head. Another example is the statement of Ubayy ibn Ka'b, may Allah be pleased with him, about a man who used to come to the mosque from a distant place so that his steps going and coming would be recorded for him.