A "meeting of the minds" or "intention" is one of the elements that is required for a valid contract. But it's not the only one. (For example if two guys sit in a room and say "let's order a pizza" that is not a contract even though it does express an intention.)

You also need:

- an offer

- acceptance of that offer

- some sort of consideration, i.e. some exchange of value

- capacity (i.e. you can't contract with someone who is incapable of consenting)

- legality ("lets steal a car" is not a valid contract)