One of the lessons I learnt from Huxley's Brave New World is that this phrasing is very ambiguous and the meaning of utopia is more complicated, if the word is indeed meaningful. The people in BNW live in the manner that they desire, but not many would call it a utopia. Sure, those desires themselves are the result of genetic and environmental conditioning, but so are ours!
It seems to me that Huxley is saying that some element of struggle and overcoming of adversity is necessary for human flourishing.