In general, yes. Some freedom has to be restricted as it directly affects the rights/freedom of another, but these restrictions should be carefully weighed and always have a desire to maintain freedom where possible, and not to take it away lightly.
Eg, you don't deserve the freedom to kill someone. You don't deserve the freedom to walk into someone else's home and take their possessions.
HOWEVER, I do think that for the most part, our laws have become too restrictive and should really have a review.
Copyright law has gone too far for example. It's granted corporations an indefinite monopoly at this point to something that once would have become part of our culture. IMHO copyright should be reduced to 7 years with an option for a ONE TIME extension of an additional 5 years. Patents much the same. We've allowed patent applications to be dilute to the point where rather than filing a patent on a specific machine that picks cotton (as you once would have had to do), you can now file a patent on the general concept of a machine picking cotton. Patents on business methods, software concepts, and mathematical or scientific truths should be completely eliminated.
Other laws that affect only the participants should be dropped entirely - most restrictions on gun ownership, home distillation, personal drug use, prostitution, etc. All laws based on forced "morality" rather than based on freedom.
Also in particular are the out and out STUPID laws left over on the books. Plenty of examples over at
http://www.dumblaws.com/.
One location in SC still has it on the books that all adult males must bring a rifle to church on Sunday to ward off Indian attacks . . .
Maybe I'm being naive, but I think we could stand to toss out 95% of the laws we have today and start anew. I'd betting we could have a functioning society where almost all things that most people would want illegal - theft, rape, murder, assault, etc would still be illegal and we could define our laws within 50 pages or less.
The problem we have today is one of accrued junk in the books. Most people don't understand that you absolutely cannot legislate away trouble in life. Even if it's against the law, people will still do bad things. Rather than simply punish the criminals though, people naively look to legislators to "make sure this doesn't happen again". It's not a realistic goal, but they'd certainly be happy to give it a try by piling on more and more legislation (hence why we get stupid stuff like wanting to make guns illegal to keep people from committing murder - hoping that just one more law will convince someone not to commit an act this is
already illegal).
When you consider that they've been diligently going through this process for over two centuries, it's no surprise that our society and it's laws have become inundated with useless cruft.