But those who surrender all their actions to Me, who have Me as their supreme goal, who worship Me meditating on Me with an exclusive and undivided yoga —

Kṛṣṇa describes the method of mature bhakti: sannyasa of actions — not renunciation of action, but of ownership over action. Everything is offered to the Divine.

The expression mat-parāḥ — “having Me as supreme goal” — indicates niścaya, absolute determination. There is no plan B, no reservation. The bhakta bets everything on the Absolute.

Ananyena yoga — yoga without other object — is the essence. The mind does not disperse in multiplicity, but concentrates on the unity of the Beloved. This meditation (dhyāyanta) is continuous, not isolated sessions.