Picard used to get on my nerves at times, because he was always so smug and condescending. Especially in ST:FC and "The Neutral Zone" when he bragged about how better things were in his future.
The Neutral Zone was a social commentary on many of the problems with our society in the 80's. Many, if not all, of those problems still exist today. Poverty, hunger, disease, greed, corruption, the list goes on. I found Picard's speech in TNZ to be very inspirational. The Utopian society in TNG is something that mankind should work towards.
I'm not sure I understand what it is about Picard's attitude that you find condescending. Those speeches he gave were meant to inspire, not insult.