I don't know if that was Satoshi's goal or not since I haven't actually read the original white paper. For me it's sufficient to do be rid of perpetual inflation. I'd also lilke to see income and capital gains taxes eliminated and if crypto ends up giving people a weapon to fight against this kind of demoralizing taxation then that's a good thing.
He never said that, but then, Satoshi is not a god. A "free money" is not compatible with an economically non-free society like ours, and as long as there are taxes in relationship to economic activity (production of value - income tax / consumption - VAT) economic activity is not free. The concept itself of a freely usable means of economic exchange, which IS the goal of crypto, is orthogonal to our current tax-states.
Of course, we will not get rid of the tax-state institution that we're living in since about 5000 years overnight. My hope is/was that crypto was going to be to the tax-state and the non-freedom of economic interaction, what the internet is to free speech: something that by its sheer adoption forces states to comply in the end. That said, free speech is as of now also still a far-away goal, but less so than before the internet. Mainly thanks to anonymization, decentralisation of communication.
Getting rid of inflation in itself is not really the important point (although I think that for Satoshi, it was).