In general, yes.
Depends on the needs of societies. My favourite example is going on a holiday with a large group of people. Tourists normally do not compete and control, they just enjoy it all, each one in their own way. They (usually) do not fight over who goes first somewhere, and if they do, it's not serious. Even when in the group some participants really do not like each other, they don't do the normal scenes they would do, and may get along.
If life is not supposed to be some endless struggle, then people could go without rulers. Ruling seems needed, only when there are very important goals. And I'm not even sure about that - I've seen groups achieving a lot without clear leaders.
Right now, I'm not convinced that humanity really has such impossibly difficult goals, that would require the ruling mentality anymore. But it takes time to get rid of all the fears and traditions of the past.
