For an animal to obtain multiple resources in the environment, its navigation plans must be flexibly updated. This ability is thought to be supported by the hippocampus playing a pivotal role in not only mapping the animal’s own position but also replaying goal-directed paths. Whether and how spatially-tuned neurons in the hippocampus can also discriminate behavioral contexts targeting different destinations remain, however, unclear.By using a navigation task that requires frequent updates in goal locations, we found that, while a majority of place cells in the hippocampal CA1 maintained the same spatial tuning, their firing rates changed significantly in accordance with the animal’s destination, pointing to rate remapping as a mechanism for discriminating contexts targeting different goals. Correspondingly, we found that brief sequential spiking or replay in CA1 neural ensembles swept toward the animal’s next destination flexibly while it stayed at the starting position.However, when disrupting information flow from the medial prefrontal cortex (mPFC) to the CA1 by silencing the thalamic nucleus reuniens (RE), goal-dependent rate remapping as well as replay sequences in the CA1 were largely impaired. We discovered that neurons in the mPFC and RE persistently discriminated task contexts with different goals, which likely influences CA1 neural coding by eliciting rate remapping as well as replay sequences corresponding to the animal’s navigational goal.These results together point to the extended capacity of hippocampal circuits in integrating their spatial coding with goal information in an orthogonal fashion, forming a task-relevant cognitive map through prefrontal-hippocampal interactions.