“There lie targets” vs. “there lies targets”

I have a sentence:

However, until then it is obvious that there lie intermediate “targets” — foo, bar and baz.

Is the use of lie in this way correct? The targets still exist, so I don’t want the past tense.

I don’t think that lies sounds correct, because there’s are multiple targets and I'd say the dogs lie rather than the dogs lies.

Lie here is a figurative use of a spatial expression. You should use it only if you at some point before or within this sentence define, however vaguely, the “space” in which your targets lie. For instance:

It is obvious, however, that intermediate “targets” —foo, bar, baz— lie on the path toward that ultimate goal.

OR

It is obvious, however, that before we reach that goal we must pass intermediate “targets” — foo, bar and baz.

If you're not comfortable spatializing your disquisition, I'd stick as Sam suggested with a simple be rather than lie.

And, yes, plural subjects take the form without -s.