How are you defining authority? My understanding is it’s specifically referring to “power over”; via implicit/explicit coercion, threat, manipulation, and so on. I don’t see why opposition to such uses of power, and the desire to build alternative systems which don’t rely on such means, has to be a negative or “naive” or “unrealistic” thing.
Absolutely! He simply has a very original take on “freedom”, but we all know that’s a tricky word to pin down, so don’t think about it too much, and leave it to the big dogs to tell you when your freedom is being protected.