Here is another scenario that challenges the smugness of Picard from the early seasons (and even later seasons). And, it's kind of already when brought out.
In "Parallels" we see a crazed William Riker with an unkempt beard and possibly one bridge officer in the background willing to fire on another just to prevent themselves going back to a timeline where the Borg have won.
I forget the Trek episode I'd watched recently where a little conservation was going on about being pushed to the limits if one was put into an uncontrollable life or death situation where all the Starfleet ideals and training becomes just a means for survival. For example, the infamous Ransom/
Equinox incident: How would Picard handle that? The Picard speech/self-righteousness will only go but so far, especially if there are those who want to eat/get home/just plain antsy.
Watching a few episodes, he tends to say, particularly those who are with Starfleet: "If you wear that uniform..." or "You're a Starfleet officer!"
I have yet to see it, but
Space:1999 had an episode where there was a group of people who decided to form their own group on Moonbase Alpha. For that show, we had a passable leader in John Koenig, but even
he couldn't keep a grip on
everything.
Getting back to feeling superior to people from years or centuries past. That may be true.
If I were to come across a slaveholder from the 18th century, I might feel superior. If I came across Christopher Columbus, I might feel superior. However, if I met Malcolm X, Dorothy Dandridge, Marilyn Monroe...I might feel a bit starstruck.
Sisko's hobby was 21st century history, and Janeway - as aforementioned - admired Amelia Earhart, and Kirk Prime (or the Kirk
we think of as 'Kirk Prime') admired Abraham Lincoln - despite what people (like, maybe Sisko) might have thought or speculated about the man based on how strongly the DS9 captain felt about the treatment of black Americans in the 1960s.