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1. Preheat the oven to 400 degrees F. Place beets in a shallow baking pan. Cover with foil. Roast 40 to 45 minutes or until tender. Uncover. Let beets cool for 15 minutes. Remove skins and slice beets into 1/4-inch coins.
2. For dressing, place all the ingredients in a container or jar with a lid and shake until well combined.
3. Divide the arugula among small individual plates and arrange the beets atop the greens. Dollop with goat cheese, then serve the dressing on the side in individual portions.