So, in the spirit of "if you want peace, prepare for war", I believe the best way to life in peace is to remain peaceful yourself, but CONSISTENTLY engage in EARLY and AGGRESSIVE action which you see through to its CONCLUSION. And yes, in order to be successful, you have to have all of these four elements.
Unfortunately, western democracies repeatedly have fallen short on at least some of these aspects which emboldens everyone from giant countries like Russia or China down to tiny groups like the Huthis.