We consider the Goldstein-Taylor model, which is a 2-velocity BGK model, and construct the "optimal" Lyapunov functional to quantify the convergence to the unique normalized steady state. The Lyapunov functional is optimal in the sense that it yields decay estimates in $L^2$-norm with the sharp exponential decay rate and minimal multiplicative constant... The modal decomposition of the Goldstein-Taylor model leads to the study of a family of 2-dimensional ODE systems. Therefore we discuss the characterization of "optimal" Lyapunov functionals for linear ODE systems with positive stable diagonalizable matrices. We give a complete answer for optimal decay rates of 2-dimensional ODE systems, and a partial answer for higher dimensional ODE systems. (read more)