The best way to have society is by individual's autonomy. Societies with very little freedom are undesirable societies. Everyone with misfortune to be born in one such society has lost a lot already.
Our autonomy matters to us. Every person values his autonomy. It is the thing that makes life good. Without autonomy, person has nothing. He feels like a property, because he is a property of utility.
We shouldnt violate the autonomy of others. We wouldnt want our own to be violated either. We dont own other people, and other people dont own us. Its a simple enough rule for everyone to follow.