Humans are humans, and there are a quite a number of degrees to which each leans towards good or bad. Yes, you can influence the bulk of them towards one direction if enough effort is put into it, but there will always be a not-insignificant number for whom that won't work.

You seem to be pinning your expectations upon creating a somewhat idealized society where all this can at least be minimized and/or controlled, and that is indeed probably the best we can hope for without resorting to some form of forced artificial mental control. To get there successfully, we need to find ways to correct these problems as soon as they occur so they don't languish and become endemic to someone's mental processes.

Since fear & bullying start very early in life, we need effective ways of recognizing that it's happening as well as counter it quickly to prevent it forming the basis of each affected person's personality. Unfortunately, IMHO it will take a commitment to keep at it for a far longer time than humanity is ever likely to manage to stay focused on it, however. Even if we were to manage to virtually eliminate it, we'd lose focus due to that success, and it'd likely rear its ugly head again with minimal resistance.

There's unlikely to ever be a form of human government that manages indefinitely while also treating its subjects properly. Someone's always going to be working to subvert it for their own ends, and sooner or later one of them will be successful in doing so. If anybody survives, then the cycle will begin anew.

That doesn't mean we can't do our best to try to make things right - just that we're not infallible, and sooner or later it's all going to go to shit again & we'll have to start over again.