Preheat oven to 400°F (200°C).
Scrub beets and wrap them tightly in aluminum foil with 1 tablespoon of olive oil.
Roast beets for 50 to 60 minutes until a knife slides easily to the center.
Once cool enough to handle, rub skins off with a paper towel and slice into wedges.
In a small mixing bowl, whisk together 3 tablespoons extra virgin olive oil, balsamic vinegar, honey, Dijon mustard, salt, and pepper.
Place arugula in a large salad bowl and toss lightly with half of the vinaigrette.
Add the sliced beets to the arugula and top with crumbled goat cheese and toasted walnuts.
Drizzle the remaining vinaigrette over the salad and serve.