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We investigated the longitudinal interrelations among performance-avoidance goals, self-efficacy, and ego cost in math domain. The latent cross-lagged modeling based on 370 middle school students and 366 high school students revealed significant reciprocity between self-efficacy and ego cost. Prior self-efficacy also emerged as a significant predictor of later performance-avoidance goals in high school sample, whereas the relationship was reversed in middle school sample. In addition, self-efficacy significantly predicted math achievement and future choice intention in both samples, whereas ego cost predicted achievement and future choice intentions in middle and high school samples, respectively. These findings suggest the importance of considering students’ achievement goals, self-efficacy, and cost beliefs simultaneously to better understand their motivational processes across different grade levels.