Consider an example: a society which has achieved peace and prosperity for all it's citizens by creating a race of beings to do all the menial labour and dangerous work. They would no doubt believe they were doing good by making it so that their people were free to do as they pleased and live in peace, but I don't think the servants would, not that anyone would think to ask them 
The people would believe they were serving the good of humanity but they would be infringing on the free will of this other race.

The people would believe they were serving the good of humanity but they would be infringing on the free will of this other race.