You can also license rifles for some purposes, but all firearms are subject to licensing. We do not have a right to own them, as commonly understood. Having said that, I get what you're saying.
This is a very complex debate and the issue of what constitutes a 'well regulated militia' or just 'the militia' is undecided, and has been since 1791. There certainly isn't any consensus that it refers to some sort of territorial or part time army that citizens have to join to exercise their rights under the 2nd Amendment.
The leading case on the RKBA and the 2nd Amendment seems to be District of Columbia v Heller (2008). There's a good discussion here:
https://www.law.cornell.edu/wex/second_amendment. This references some other cases and Cornell Law School aren't known for taking far right or vigilante positions.
I'm not defending the 2nd Amendment in itself, but it had its origins in English law which remained largely unchanged for another 230 years. The RKBA is part of the US Constitution for good reasons, and is not just 'daft US gun laws'.