Submitting to earthly authorities

first: when the standards of the world goes AGAINST God's standards then we're allowed to fight back.
For God's standards and commands are greater than ANY authorities.

second: in the time of the bible, the servant master relationship was a normal system. The bible has pointed out clearly that masters should treat their slaves properly and slaves should obey their masters.
so, instead of avoiding reality, God was teaching them how to live it in harmony.

i don't think the verse you put out can be applied as you said.
Read Ephesians, that should clear things up for you.

I do not believe Jesus is concerned with earhtly domains. Satan tempted Him with great kingdoms on earth and just think of how godly they could have been with the Son of God running them.
If he were interested, could he not have helped the Zealots and easily led a victorious army against the Romans and Herod?
Judas was a Zealot and so was Barnabus (the man released instead of Jesus). This is because earthly kingdoms are inheranlty
averse to the Kingdom of God. They are run by people and people
mess things up everytime.

Check in the old testament. God did not even want to give Israel
a king. At the time, it was being run by judges only. But the people wanted to be like everyone else, so, God gave them what they want, knowing they would not like that either.