It very well could. And it often does.
It is why we have a Constitution and the Courts to define the limits of that "lawful" authority.
But the point remains, that an intelligent and learned person, engaging in a political science discussion on Government would very legitimately argue Giuliani's point.
Because in the absence of lawful authority what remains is barbarism not freedom. See Iraq. See Gaza.
Giuliani is right.
And obviosuly not the candidate for those who like politicans simple.
"I'm for Freedom" Rah-Rah! Sis-Boom-Ba
Freedom is protected by lawful authority. Only an authoritarian would equate the two. In a purely free society, lawful authority would not interact in any way with people except when they trample the liberty and freedom of others.
True freedom is doing what you desire without impeding's others freedom to do the same.
lawful authority is not a part of freedom, it is a necessary evil to counter those individuals who do not honor freedom with their respect and self-control.
The statement, as made, is little more than the mantra "Freedom is Submission". Spoken that way it's contradiction is more clear.