Every society has rules, from complex industrial societies like ours to simple hunter gatherer nomadic bands, and even other primate groups like chimpanzees and bonobos. There are norms of behaviour in all social species.
What I think your question hinges on is are rules laws, and are rules inherently authoritarian?
To the first, I would say rules are not quite laws. Rules are less formal than laws and are usually created by the people directly involved in them. Rules tend to be enforced by the people themselves as well, and created by the founders of a group i.e. a shared accomodation household, a poker club, a condominium board, an internal business policy, etc. Enforcement, at its most severe, involves casting out a member. Lesser punishment for breaking rules can often mean withholding privileges. Getting the rules changed can sometimes be a long process but for the most part is straightforward. You can appeal to people directly and convince them with a good argument. One at least has the opportunity to have one's say and argue one's case.
Laws, in comparison, are more formal. more strict, and more widely applied (a whole society). Laws are generally created by a specialized group of people, and enforced by other specialists trained in control or with deadly force. At its most severe, breaking a law can mean death. Less severely, punishment can mean forced incarceration. While rules imply some tacit form of consent (agreeing with rules grants one access to the club, board or maintains membership, and disagreeing with rules can prompt a meeting to discuss or change rules or ultimately one has to leave the club, board or membership), laws, on the other hand, are not bound by consent. Laws just are. You must obey the laws whether you agree with them or not since you cannot be cast out of society (except by imprisonment), and there is no 'away' to go to. Changing laws is a long, arduous process that can take years or even generations. One must appeal to specialists and argue complicated legal points, and hire one's own legal specialists to argue on your behalf. Laws are based on a tradition of precedence, with the aim of limiting and minimizing exceptions. Rules are more open to negotiations around exceptions (but still within limits) and are not as hidebound to tradition, since rules are not as formal.
One could view laws as the warty outgrowth of rules. As a group of people grows and scale and complexity become an issue, rules tend to become more formalized and rigid, eventually turning into 'laws', complete with specialists to administer them.
I see rules, therefore, as either less or non-authoritarian; and laws as having definitely crossed the threshold into authoritarianism. Rules can be authoritarian depending on the circumstances i.e. if there are certain people invested with the 'authority' to enforce them, and the rules are applied without consent.