Calling the booty-shaking routine, "predictable," Goodman kept the duo from getting a perfect 60 points out of 60 for the night.
But Levy and Burke wouldn't change a thing if they had to do the dance all over again.
"It [was] the freestyle," the Cuban star told PEOPLE backstage after the show. "It's free. We can do whatever we want. It wasn't supposed to be something that Len was looking for. You don't have to do whatever he says. We picked samba, who cares?"
As the proud pair head into Tuesday night's elimination, they believe it's anyone's shot at winning the coveted mirror-ball trophy.
"Everyone is definitely bringing their A-game," Burke says. "Just being in this final is really amazing. It's so close. Everyone brings something different. Normally you kind of know who is going to win. Last year, Rob Kardashian, J.R. – you kind of knew [J.R.] was going to win. But this season you have no idea."
But the ballroom pro isn't dwelling on her competition.
"I just focus on my dance partner and make sure he's the best he can be," she says. "When you think too much about the other people, it can really mess with your head. I've learned from my mistakes in the past."