While I think that self-defense is a good way of protecting an individual from injustice, after watching the video, the justice system problem seems a lot harder to resolve. They provide a very interesting approach and one could conceive of a world where such a system exists. Unfortunately, too many people are content with using force in one way or another where such a world seems pretty distant.
But education is the best path to build a better world. I'll admit that I was pretty skeptical of the whole voluntary world without a government idea. But now seeing how everything might work, it makes a lot of rational sense.
You're absolutely right about it being a philosophical battle, ultimately. All the violent "revolutions" of the world thus far have been little more than a changing of the guard, switching one violent regime for another.
As far as this being a far away goal, I don't really see it that way. The world is flooded with voluntaryists (most people live according to voluntaryist values until the religion of the state is invoked). It's only as far away as people realizing that what we teach kids about not hitting and not stealing should not stop at the word "government."
So happy to hear you're open minded about this. Kind of the rare case ;)