First, I don't really think it's appropriate for a therapist to tell their client what the client's only goal should be. I understand that therapists of course have their own thoughts and opinions about what their clients need, but saying "This is the only goal" sounds unnecessarily prescriptive to me.

My T recently said that it is his job to try to see the world the way I do, in other words, to understand me as fully as possible. That's not the same as saying that that is the goal of therapy, of course. Or rather, it is a goal for him, but not for me. (We don't talk in terms of goals, that would be very counterproductive for me and would make my therapy much less effective.) Understanding myself has never been an issue for me, though. I understand myself pretty well. I have only recently started to (to some extent) forgive myself for the way I am, but that's got nothing to do with understanding.