Goal-directed behaviors involve coordinated activity across neurons representing different cognitive variables that guide the appropriate action selection. Here we used a novel naturalistic behavioral paradigm that does not require pre-training, which allowed studying the underlying neural activity from the very first day of behavior. This paradigm involves tongue-reaching movements towards multiple target-positions, followed by a variable reward outcome. The target was presented on a grid (typically consisting of 4x4 possible target positions) in front of the mouse’s face. We used calcium imaged to record neural activity in the anterior lateral motor cortex (ALM) – an area that plays a crucial role in sensory-guided licking planning and execution in mice. Unsupervised clustering of ~100,000 ALM neurons revealed organized neural activity, encoding movement timing and reward outcome for different target positions. Analysis of interactions between neurons in different clusters suggested functional coupling between neurons with shared response profiles. Our results suggest that the network of motor cortex neurons of naive (untrained) mice encode a structured cognitive map for goal position, movement time, and reward outcome.