You must reach the goal with at least 10,000 points. You start the level with 10,000 points.
However, as Sting once said:
Every step you take
Every move you make
Every shot you fire
Every time you get shot
You lose points.
However killing enemies and completing objectives allow you to gain points. Different enemies will give you different numbers of points for killing them, so make sure you work efficiently to figure out the best way through the level.
Each level will take about 90 seconds to compete, once you figure out how.
Have to be controlled with a gamepad
Right trigger: Shoots
A or Cross: Claims points from button objective
B or Circle: Resets level
Known bugs: Reset level in first level breaks game, falling off the level requires reset level (or in first level, quit and restart game)