Sitelinks in Search Results. What and How?

What are Sitelinks and how do I get them?  Sitelinks are the links you see under some search results that link to more specific content within a website.   They make a search result look a lot more interesting by highlighting pages within a website thats listed.  How do you get them?  According to Yoast, SEO and SEO tool creator, there is no magic sauce.  You just need to be a very authoritative result for a specific search query,  Check out the video.