The planetary boundary framework constitutes an opportunity for decision makers to define climate policy through the lens of adaptive governance. Here, we use the DICE model for analyzing the set of adaptive climate policies that comply with the two planetary boundaries on climate change: 1) staying below a CO2 concentration of 550ppm until 2100 and 2) recovering 350ppm in 2100. Results enable decision makers to assess the following milestones: 1) a minimum of 33% reduction of CO2 emissions by 2055 in order to stay below 550ppm by 2100 (this milestone goes up to 46% in the case of delayed policies, emphasizing the need to define a trajectory target instead of single point target); and 2) carbon neutrality and the effective implementation of innovative geoengineering technologies (10% of negative emissions) before 2060 in order to recover 350ppm in 2100, under the assumption of getting out of the baseline scenario without delay.