Actually that motivation will get you dropped from the team. If you do good just to get into heaven, then you're not really being good. You have to love your fellow man - all of them, and love God for no reason other that you love them, and then you are a good man. You must do so knowing that you do not deserve salvation. Otherwise you're a fraudulent Christian. God sees through such flimsy charades.
Of course...but a simplistic question was asked that just might warrant an equally simplistic answer. I wasn't trying to sway anyone from the path to Heaven by purposefully leaving out the intricacies of theology. God forbid that I do so.
Brannon is a smart guy. I can't tell whether he is pressing his point that way because that is the level at which he wants to understand it or whether he is fishing deeper.
Our mission here on Earth is to know, serve and please God. In the serving and pleasing, we will necessarily want to do "good". We still must "know" Him to enter into eternal salvation.