So I decided to extend the goals to the top and bottom of the screen. So when the ball hits the right or left side it enters the whole goal. Another thing I did was when the game ends it will say, for example, "Blue Wins" and under that it will say "Press S to restart" so that a new game can begin. When that happens the scores will be both set to zero and the speed will go back to its beginning speed.
https://editor.p5js.org/KristinGrieshaber/sketches/U_fgKQG6t