Of course people are not mature enough to self govern yet. There would be chaos if all people playing the roles of police, military, etc stopped. That’s the primal terror and darkness we need to face individually, to confront the part of self that can do violence, and learn to govern it internally, and be the ruler of the kingdom of self.
When people are ready, these institutions will simply cease to exist, and be as absurd and illusionary any other superstition.