$\text{"The error entries in the goto table are never consulted"}$ - intuitive explanation of the above claim with respect to $LR$ parsing tables
The goto table is only used immediately after a reduction action, which has just restored the parser state to the state in which the reduced non-terminal follows the dot. So the goto table for that state must have a state transition for that non-terminal; it's not an error entry.
So the error entries are never consulted.