A person does not have to directly challenge someone or an authority figure to be considered a hero. A lot of people are heros by helping in the background. For example, someone could be considered heroic for picking up trash, giving to charity, saving an animal or person in need, volunteering to help businesses, etc. Though you may not be considered a hero like in the comic books there are many things an average human can do to be heroic without directly involving themselves in conflict.
Not necessarily, in a utopia heroes wouldn’t need to challenge authority in order to safe people. Heroes are a symbol of peace and an example for others to follow, breaking rules isn’t exactly the best way to portray that. Although it may come times where it is necessary it should never be the first choice due to obvious reasons.
