Socialism is authoritarian economically only because it is designed to promote economic equality through public ownership of resources and industries. Workers unions are a good example of such which exists in the USA, as demanding safe work conditions, decent wages, and health/dental benefits takes away the ability of the business to be fully privatized and autonomous from government.
Social services however are not Socialism. The police are a social service which is authoritarian, but others like schools, road service, and hospitals are not, further extending to Social Security, Medicare, and Food Stamps. They are not Socialist. They could be made entirely Capitalist by removing government from them, privatizing them, and them being ran like a business rather than a service to the public, similar to car insurance which one pays more into, in the case that something happens and need help in the future. This wouldn't help people born with problems, as they would die off in agony before being able to pay towards the services.
It would lower taxes significantly, and businesses wouldn't have to worry about the needs of their employees, focusing only on production and profiting. These insurance companies could make billions off from the masses, having to pay little back, and if people want a decent road to drive on, they can pay for their section as a community, rather than expecting it handed out to them. If people want protection from the police, they could pay for the protection, which many Americans already have to pay for privatized security systems as it is. A fully Capitalist society would require people to pay for the services that they receive, and would boost the profits of businesses, while vastly reducing government power over the people and the businesses. If people end up without power lines to their home, a working sewer system, or a road to drive on, it will be their own fault for not paying it.