Heinlein oversimplifies, but he is working on a clear understanding. Real and complete freedom is frightening. The enneagram, a listing of nine psychotypes, makes this clear. Every neurosis and probably every psychosis is an attempt to create a shield behind which we can hide. There are times when we need to be protected from ourselves. What government can handle that last requirement? The trick of the best government is to do what can be done to protect self-determination, to keep open the road to the attainment of the highest of ideals, both while guarding itself against the corruption of short-term agendas.