First, socialism is defined as worker or public control of the means of production and distribution. This has been interpreted in both libertarian and authoritarian ways.
Second, if socialism is worker control, then it is fully compatible with free markets. Mondragon and Semco are both worker democracies, and operate successfully in the global market.
If socialism is public control, this does not equal totalitarianism. Social democracy is a form of democratic public control of resources.
I understand people's reasoning for preferring capitalism (ownership defined by contract) or socialism (ownership defined by use), and I respect that, but I would love to be able to have political discussions about these issues which take into account the complexity and diversity of these two very broad terms.