At the risk of sounding too "Star Wars-y", there is a light and dark side to this. I have to disagree with the idea that when you're in touch with your goals, that you can't hurt anyone.
Adolf Hitler, Mao Zedong, and a host of others were definitely in touch with what drove them, and were certainly achievers, but what made then happy DEFINITELY hurt people.
I agree with 98% of this idea, except that "you can't hurt anyone" when reaching for your highest goals. What about the parent who abandons their children because they decide that their "highest self" shouldn't have been a parent and their greatest happiness is to abandon their child to chase some non-parenting-compatible goal? What message does that send to the kid about the responsibility of parenthood?
I agree with 98% of this, but there are goals that are destructive to society and to other people that we, in our flawed human nature, can rationalize as "pursuing our greatest happiness".