It's free to create a goal with a Yellow Brick Road and start following it! If you're disciplined and self-motivated to reach your goal then Beeminder will never charge you for it. (Beeminder is obviously not targeted at people like you!)
Stay on your yellow brick road and all is roses and ponies.
Gallant is self-motivated. He's outperforming his road and won't be paying anything for using Beeminder.
Goofus has drifted off his road. This will cost him dearly. (But derailing is not failing!)
If you veer off the road, that's when it gets interesting. It doesn't mean you'll be charged necessarily (you can sometimes choose to start with $0 at risk) but your yellow brick road will reset and you'll be back on the hook, and the amount you have at risk will go up. You can still choose to hit Archive on your goal and walk away at this point -- no further obligation. Maybe you decided you don't need Beeminder because you don't want to reach that stupid goal anyway. No problem! If you started at $0 then Beeminder will have been free for you too.
However, if you really meant to stay on the road, and you want to keep going, at this point you'll have the threat of being charged $5 hanging over you.
(Again, it's always dead simple to walk away: Click "Archive" on any goal and a one-week countdown starts, after which you're off the hook.)
The goal of Beeminder's commitment contracts is to never let anyone derail on a technicality or due to genuinely extenuating circumstances. We explicitly ask you when you derail if you consider it a legit derailment. (If this sounds too lenient, there's a "weaselproof me" box you can check.)
You have to add a payment method to create goals but that doesn't necessarily mean paying anything, assuming you stay on track. What you do have to pay for is tracking more than 3 goals, which requires the Infinibee premium plan. There are other goodies and perks in the other premium plans. See also the first FAQ item below.