Autonomy Theory characterizes agency as a subset of functions of an autonomous entity that controls the interactions of the living being with its environment so as to maintain its organization, considered as its intrinsic purpose. Yet, this understanding of agency faces a major philosophical and theoretical problem: there seems to be many purposive interactive behaviors that do not directly contribute to survival, or even run contrary to it, such as playing or smoking a cigarette. The challenge, therefore, is to elucidate these more complex interactive capacities within the framework of the Autonomy Theory. In this chapter, I explore three key hypotheses to address this challenge: first, the idea that such behaviors might respond to underlying biological “needs”; second, the idea that, as emphasized by the enactivist perspective, these behaviors are embedded in a sensorimotor level of organization; and third the idea that these behaviors relate to a social level of closure.