This is one of these circular relationships. You and your friends can experience true, free, cooperation exactly because you don't have to be on guard 24/7 against enemies, because you live in a civil society that has rules, and people to enforce those rules - ultimately by coercion through violence.

Peaceful anarchy evaporates when bad actors arrive. I wish it wasn't so. A structured civil society is the nearest we've managed to get to being able to live in relative freedom almost all of the time. It's the least violent, least coerced option we've been able to find.

The other way would be to go live in a group by yourselves off the grid, and as long as every one of you is good and decent that will be fine, but the moment one of you goes bad, you either have to choose violence or they will do whatever they want to you.