Not entirely wrong, but not entirely right either. Bear arms is arguably associated with militia service yes, but not always what we'd call military action in modern times.
But in any case the founders were pretty clear in their intent that the rights of the citizenry to possess and lawfully use arms was to be protected.
A few quotes....
"I ask, Sir, what is the militia? It is the whole people. To disarm the people is the best and most effectual way to enslave them."
George Mason
Co-author of the Second Amendment
during Virginia's Convention to Ratify the Constitution, 1788
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"A militia, when properly formed, are in fact the people themselves …"
Richard Henry Lee
writing in Letters from the Federal Farmer to the Republic, Letter XVIII, May, 1788.
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"The people are not to be disarmed of their weapons. They are left in full posession of them."
Zachariah Johnson
Elliot's Debates, vol. 3 "The Debates in the Several State Conventions on the Adoption of the Federal Constitution."
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"… the people are confirmed by the next article in their right to keep and bear their private arms"
Philadelphia Federal Gazette
June 18, 1789, Pg. 2, Col. 2
Article on the Bill of Rights
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"And that the said Constitution be never construed to authorize Congress to infringe the just liberty of the Press, or the rights of Conscience; or to prevent the people of the United States, who are peaceable citizens, from keeping their own arms; …"
Samuel Adams
quoted in the Philadelphia Independent Gazetteer, August 20, 1789, "Propositions submitted to the Convention of this State"
"Firearms stand next in importance to the constitution itself. They are the American people's liberty teeth and keystone under independence … from the hour the Pilgrims landed to the present day, events, occurences and tendencies prove that to ensure peace security and happiness, the rifle and pistol are equally indispensable … the very atmosphere of firearms anywhere restrains evil interference — they deserve a place of honor with all that's good."
George Washington
First President of the United States
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"The supposed quietude of a good man allures the ruffian; while on the other hand arms, like laws, discourage and keep the invader and plunderer in awe, and preserve order in the world as property. The same balance would be preserved were all the world destitute of arms, for all would be alike; but since some will not, others dare not lay them aside … Horrid mischief would ensue were the law-abiding deprived of the use of them."
Thomas Paine
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"To preserve liberty, it is essential that the whole body of the people always possess arms and be taught alike, especially when young, how to use them."
Richard Henry Lee
American Statesman, 1788
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"The great object is that every man be armed." and "Everyone who is able may have a gun."
Patrick Henry
American Patriot
In any case, even if there were no 2A, the RKBA of free persons is ancient... the only problem was for most of history few people were "Free".