Rational versus intelligent agents
Before I go straight to your question, we have to get a clear picture of these two terms that might seem confusing;

1.rationality(an agent is able to perform given task x after analysing y,that is right fit for x).

2.intelligence.(an agent is able to perform given task x after analysing y inline with reasoning ie..why x?....).

could Goal-based agents be a rational agents at the same time ?
Basing on the above two hints,the answer is yes. 

Does this concept limit intelligence to just human intelligence ?
According to artificial intelligence research,so far,we haven't reached at the level of human intelligence (artificial general intelligence). 

Hope this can give you some insights.