The state decides what a lawful manner is, thats about as useful a statement as "it's not illegal when the president does it". The states only rules as long as a certain X% of the populace agress with it. The second amendment tries to balance that X so that it doesn't become something like o ly 1% of the populace needs to agree with the government for it to maintain power.

There's arguments to be made as to what percentage of the populace needs to agree for a stable society to be formed. Both extremes of 100% and 0% are obviously bad as you either get no agreement or total dictatorship.

Just saying that you should listen to the government though ignores the majority of the history of governments