I think the libertarian principle will be difficult for mass adoption because of the relative uncertainty that plagues a completely free system. Like you said, when people see government, they see welfare, security albeit inefficient and corrupt. The libertarian movement still has to work on why choosing liberty over the existing system is better for us all
People prefer the devil they know, so to speak. Thomas Jefferson was right when he wrote in the Declaration of Independence that,
And that isn't even taking into account the indoctrination of media and government schools.
The libertarian solution is still "statism" in pure form, albeit minarchist. While it demands more accountability and a reduced global presence the "roads" argument is still debated, for example.