I have previously authorised the plugin for my Goodreads account, but I tried on a different calibre installation that didn't already have the plugin installed. I didn't get any errors and the Goodread page showed opened and showed an "already authorised" message.
From the message you have, you should try again. If it fails, I need more details. Press the details button of the message box and post the contents from there. Or, run calibre in debug mode and post the full debug log.
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