There is always joy when you complete a task successful and there is always happiness when the task is going well. Thus it mean joy comes after happiness or they all means the same.
When you are planning to pursue a give task or program we usually put target’s. The first target you complete will you be joyful or have happiness?The two words will be better we get explanation from the comments. Give your view on the words.

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Yes,joyful can be a good word to describe the feeling of achieving a target.While joy it’s not the only word,joy often accompanies success and it conveys the positive and happy feeling of accomplishment
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