I disagree. They aren't mutual, they are absolute opposites.
Absolute freedom is anarchy - everyone can do what they want, and nobody has security.
Absolute security is freedomless - one's actions are circumscribed in every possible way to reduce risk.
Of course, reality is always a compromise between such theoretical poles.
If you take as a hypothetical the TV show Lost: the characters in that drama had essentially no government, no police, and the freedom to do pretty much what they wanted. Concurrently, they had very little security.
Alternatively, if you have a society in which the government is expected to mitigate every risk, to protect from every harm, you have substantial security (ostensibly) but very limited freedoms (sacrificed on the altar of the "greater good" or "protect the children" or "fighting terror").
We seem to want the latter; we just spent 10 years at war and trillions of dollars over an attack that cost the US a (relatively trivial) 3000 lives. You say the modern police-state has failed? I'd disagree - we are getting *precisely* the state that we as a body public have voted for. I'm a libertarian, I truly would prefer a country with more freedom, cognizant that this means fewer safety nets, but I recognize too that I'm in a far minority, and will be outweighed by the masses that want single-payer health care, massive social safety-nets, and a society that weeps piteously over every sparrow that falls from their nest.
Read up on social contract theory, and then read John Campbell's Tribesman, Barbarian, and Citizen. (I found the full text of the piece quoted at http://www.baenebooks.com/chap... )