Most of us fight to change the world to benefit ourselves. There is nothing wrong with self-interest. Especially when that is enlightened self-interest.

One problem we have with creating systems that benefit everyone is that individuals have different value systems. If one person like fighting animals, and another person thinks that action is degrading, or even harmful to the first, then the value clash will bring up the negative emotions you have discussed such as anger.

The path to enlightenment is within. We really can not control what others do without use of force. The fewer actions that we seek to control in others, the less force we "require" as a society. e can not expect that others will act as rational or as enlightened as we do by our own standards.