We tend to think of freedom and confinement as opposites—like country and rap music, they just can't share the same space. But in Stranger and a Strange Land, the two are inseparable. Let's take a look: Jubal Harshaw lives in what he calls "Freedom Hall" (10.71), but he is confined to his hermit-like existence if he hopes to truly remain free by his definition of the term. Mike goes out into the world to learn about humanity, but when he exercises his free will and builds the Church of the All Worlds, he has to stay within his inner circle, letting in only a choice few. Likewise, we find the freedom enjoyed by someone in regular society, such as Joe Douglas, to be a myth, hiding the confinement of social mores, cultural habits, and political rules. Is a freedom free of confinement even possible? That's one of the tough questions the novel seeks to answer.
Mike does not free any of his disciples from the constraints of society. He just creates new constraints for them.
Mike has more freedom on Earth than on Mars because of laughter. It is the best medicine, after all.