Do you even know what a State is? The existence of a State is already an authoritative thing because it implies the repression of one class to the other through the State's organs, namely the police for example. All State is "authoritarian" because that is the very essence of a State, Anarchists know as much.

What you consider a "not totalitarian" goverment is simply one that is governed by the bourgeoisie. Or what did you think it happened, that after the middle ages class based society ceased to exist or that the class that oppresses turned good? They are the ones in government.