It is a growing belief that transitioning towards sustainable cities requires a wide citizen engagement, yet many local governments are not able to define how citizen engagement should be done. This research was conducted to assess municipalities’ effort in engaging citizens when working for sustainability. This study focuses on creating a strategic guide for municipalities to use when engaging citizens to work with the UN Sustainable Development Goals (SDGs). A systemic analysis approach was selected to examine the SDGs through the Framework for Strategic Sustainable Development, followed by a Value Stream Analysis for the SDGs. Then a mapping method used, where each SDG was linked to a level of citizen engagement on Arnstein’s ladder for citizen engagement (1969). A group interview for practitioners was held in Karlskrona Municipality in Sweden for an evaluation purpose. The results revealed a risk of misalignment for some SDGs, a relational matrix map was created where each SDG was related to a level of Arnstein’s ladder in a graphic visual, which can be used by the municipality as guide to choose the level of engagement for each SDG. A set of insights were revealed concerning the enablers and barriers for citizen engagement in municipal context.