On the iPhone App, it is very easy to look at a goal, and then create a To-do linked to that goal. On the Web interface, it seems that you have to flip from the Goals view, back into the To-Do view. Maybe I'm using the Goals view with the wrong expectation and shuld be in the To-Do List view anyway?
I think maybe you are talking about the Goal setup page instead of the Goal view. When you are viewing your list, look at the very top of the page for "View by: Goal" and click there. This will show the goals as tabs for you to easily add tasks inside.
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