Even at my place of work, which has an implied hierarchy with force backing it up, I strive for this. When people need to pull rank or exert force, something is wrong. People who work together well work together without force.
Force is how you get people to do what you want when they don't want to do it. The only way you can think force is inevitable is if you think you can't live harmoniously with other people. To look beyond force as a means of social organization, one must be an optimist, but when you do that, you find all around you possibilities. The relationships that nourish and support us most fully are the least violent ones.
Force is probably cleaner given the choice.
But what would I do if some unenlightened person sought to compel me through the threat of force?
Of course that's a little facetious. There's more to resisting force than simply meeting it with force in opposition. People live lives of resistance in all walks of life, and finding ways to get around hard, inflexible enforced conditions is useful to even powerful people. In general, the answer to your question is exactly determined b y the nature and context of the force.
Personally, I am a nonconfrontational person. I think avoiding confrontation has helped me find ways to deal with people who throw their authority around. On the subject of physical violence, well I don't want to spill personal details like that on a public forum.
Please note that the Roman Empire came after the Roman Republic, the French Empire (which, granted, didn't last all that long) came after the first French Republic, and Nazi Germany (another god-king situation) came after the Weimar Republic.
History doesn't run just one way, unfortunately.