Can't bear arms against burglars, muggers, rapists and would be murderers ? The writers of the Pennsylvania Constitution beg to differ. (The language predates that of the second amendment,).
The right of the citizens to bear arms in defence of themselves and the State shall not be questioned. Art. 1, § 21 (enacted 1790, art. IX, § 21).
1776: That the people have a right to bear arms for the defence of themselves and the state; Declaration of Rights, cl. XIII.
Also that of the writers of the Vermont Constitution
That the people have a right to bear arms for the defence of themselves and the State - Ch. I, art. 16 (enacted 1777, ch. I, art. 15).
The original Constitution of the Texas Republic also mentioned bearing arms for defense of self:
1836: "Every citizen shall have the right to bear arms in defence of himself and the republic. " Declaration of Rights, cl. 14.
So I'd say your contention that "bear arms" has or had a strictly martial connotation in the period is demolished.
Not at all. I read that as, "The right of the citizens to bear arms in battle in defence of themselves and the State shall not be questioned."