A very good question. This is a great question, and a very tough one. Because you can use these words interchangeably, and most people do. Technically, both words mean the same thing:
"I have a goal" = "I have an aim"
However, the nuance is slightly different. I feel (this is just a personal opinion), that 'aim' is a general and broad 'thing' you are going to achieve. If you are to compare the two words together.
"I aim to be fluent in Spanish"
"I aim to please"
"I aim to travel the world"
"I aim to misbehave"
How you intend to be 'fluent in Spanish" = maybe you listen to a Spanish podcast for 10 minutes a day. This is your goal. "My goal is to listen to a Spanish podcast for 10 minutes a day".
A goal is more specific and something you will do, in order to achieve your aim. I also think an 'aim' is less definite, you 'aim to do something', but that doesn't mean you are able to 'do' what you aim for. Whereas a 'goal' doesn't have that nuance.
Its a tough question, and I think, in context, if you say aim or goal, people will understand what you mean, and I don't think you would need to define the difference.
I hope this helps, I think I confused myself ;)