No it does NOT mean that the state has a right to form a militia. The right of the PEOPLE, means the individual person every time it is used in the Constitution.
Wanna see a stupid lawyer trick?
What you said makes sense. Everyone understands it. But under current law, you're wrong.
Under statutory law, "persons" and "individuals" are acting in a corporate capacity, and therefore only have government granted limited privileges - and no rights.
To indicate "the People" who have rights, you have to refer to them as "man/men" and "woman/women."
If you fail to use those words, and use the words you used instead, the Court can, and will, presume you voluntarily, knowingly, surrendered your rights. And since that presumption is based on the idea that you did it of your own volition, the Court will further presume it doesn't have to tell you what it presumed about you, because it will presume you already know.
And then it will deny you your rights and replace them with government granted limited corporate privileges.
That's "how it's done," and every cop, prosecutor, lawyer and judge knows it.
Now you know it.