here's what i think it means:
It is about the "willing to be fired" mentality.
Employees were told to pursue what's right for the company even if it meant breaking rules or pissing off management. One guy (who later founded Yelp) sent an email thinking he'd get fired for strongly disagreeing with leadership. Instead, they loved it.
Thiel's motto was literally "Come to work every day willing to be fired to circumvent any order stopping your dream."
Worked out pretty well, those same employees went on to build Tesla, LinkedIn, YouTube, etc. Sometimes the best innovation comes from ignoring the rulebook