if the general plan to free "yourself from slavery" from the book is to pretty much utilize the same dogma as Ur Quan, then yeah, it sort of makes you a warlord if the preferred plan to deal with other tribes is to conquer them, kill them and put in slavery. actually the plan is even worse than the green ur quans plan of action, because according to the books(tm) you're not supposed to offer them the possibility of being a vassal/slave state.
Islam, as it spread wide originally, had provisions for slave tribes(who need pay tribute), turning the conquered into Islam(assimilating them) and such - you know, basic empire building provisions in the general plan. Judaism does not. this might explain why the other spread regionally fast and the other did not.
besides, historically speaking, who were they slaves to? I thought there was no evidence of them actually being in egypt to build the pyramids like claimed? and parting the seas and whatever.
so both Islam and Judaism are pretty much warlord religions.
anyhow, you should note that all religions can be used as tools for conquering, through terrorizing, war etc. even budhism. many of the budhist nations are strangely patriotic and militaristic and proud of their military prowess(even if it is mostly made up).