This is a truism. Of course we could create social organizations that are totally unconstrained, but they will fail catastrophically.
We are (and will always be) constrained and as soon as we prefer one goal to another we want to bring that hierarchy to reality. To do that we necessarily need to adjust the rewards for working towards that goal, thereby creating a social hierarchy.
Even if that were the case, the "lobster arguments for social hierarchy" usually lean far more rigid and totalitarian than human history indicates. For every Roman empire you show me I can find you five cultures with fluid or nearly flat hierarchies.
