Rule by force is the disease, who and how are symptoms.
As long as the masses accept that these people get to use violence on those people because reasons, we get ruled by those most willing among us to use force.
When they reject rule by force as a means to their political ends, we get utopia.
A perfectly peaceful planet where nobody is forced to do anything.
While I agree with what you are saying it is a little too dreamy to visualize this ever happening. Greed alone will ensure that it can't be possible.
Abundance will end greed.