Both are interdependent; neither exists without the other. However, people are often not as aware of their needs as they are of their goals.
For example, a teenager may not consciously be aware of his social needs but may join a photography club to meet new friends. A local politician may not consciously be aware of a power need but may regularly run for public office.
Individuals are usually somewhat more aware of their physiological needs than they are of their psychological needs. Most people know when they are hungry or thirsty or cold, and they take appropriate steps to satisfy these needs. The same people may not consciously be aware of their needs for acceptance, for self-esteem, for status. They may, however, subconsciously engage in behavior that satisfies these psychological (acquired) needs.