Given the context of militia and state, I read it more as
  a right of local governments to keep the means of self
  defense, not necessarily a "human right."

You might enjoy listening to a podcast episode I heard a few months back; "More Perfect - The Gun Show" [1]

It taught me many fascinating things - like that before the 1960s the second amendment was interpreted differently; the right was was seen as only relating to militias, and the NRA was an organisation of sports enthusiasts, and their limited political activity was mostly pro-gun-control.

And one of the first groups to advance the ignore-the-bit-about-the-militia-its-just-an-example interpretation were the Black Panthers, who sought to reduce police brutality by having police patrols followed by armed groups of their activists.

[1] https://www.wnycstudios.org/story/radiolab-presents-more-per...