Roasted Red and Yellow Beets with Goat Cheese and Lemon-Tarragon Vinaigrette

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2 large red beets, trimmed of all but 1-inch of greens

2 large yellow beets, trimmed of all but 1-inch of greens

6 tablespoons olive oil, divided

1/4 cup fresh lemon juice

1 tablespoon finely chopped tarragon leaves

Salt and freshly ground black pepper

1 pound arugula, washed and dried

8 ounces soft goat cheese, crumbled

1/4 cup toasted pine nuts