No one inherently deserves authority over another. Authority should only exist when freely earned.
The current structures do not operate this way, however.
If hundreds of years ago men signed a document removing your right to choose who you want to protect your property, how can that be legitimate?
Government, if it is to exist, is only reasonable when it is 100% backed by every individual it governs.
It’s possible for that to be so, but only if the monopoly status is removed.