The only thing that makes me wonder if it is milkweed is that the leaves appear to be slightly dentate, or notched. Is that just my eyes? Otherwise I would agree.
This is Asclepias curassavica (Tropical Milkweed) foliage that I have. Younger yes, but nary a notch.
Goldenrod leaves can be dried to make tea.
Also, dogs love to eat the leaves straight off the plant.
If you don't want it to re-seed, just dead-head it.
If you really don't want it - I can give you my address!
This plant is on every street here in upstate ny. Right now you can not drive down any road near my house and not see it. It is very pretty, but it must spread like wildfire because it is literally everywhere.