Comfort is something which should accompany a well lived life, at the end of the day, when it's time to rest. Comfort as the de facto circumstance of your life makes people unable to act in the interest of their own wellbeing - they are sabotaged by it.
As an allegory: There are millions of people who are addicted to various drugs, which they desperately wish they could stop using because their lives are being wasted/destroyed. It's the same thing with comfort, there's a level of addiction to it which is extremely difficult to overcome.
Obviously, comfort (addiction) alone isn't the problem, but when you add to it the constant abuses of our society, people fall apart and can't get off the couch. When people are isolated, denigrated, and treated like cattle they get weak. Give a traumatized person a comfy prison cell and they'll never leave it.
Talk of Utopia is dangerous though, whenever people start talking like this some atrocity seems to be just around the corner.
