George Lucas on Prequel Jedi: "They are the most moral of anybody in the galaxy."
GEORGE LUCAS: No. They're not like cops who catch murderers. They're warrior-monks who keep peace in the universe without resorting to violence. The Trade Federation is in dispute with Naboo, so the Jedi are ambassadors who talk both sides and convince them to resolve their differences and not go to war. If they do have to use violence, they will, but they are diplomats at the highest level. They've got the power to send the whole force of the Republic, which is 100 000 systems, so if you don't behave they can bring you up in front of the Senate. They'll cut you off at the knees, politically.
They're like police officers. As the situation develops in the Clone Wars they are recruited into the army, and they become generals. They're not generals. They don't kill people. They don't fight. They're supposed to be ambassadors. There are a lot of Jedi that think that the Jedi sold out, that they should never have been in the military, but...
PAUL DUNCAN: Do you think that?
GEORGE LUCAS: It's a tough call. It's one of the conundrums of which there's a bunch of in my movies. You have to think it through. Are they going to stick with their moral rules and all be killed, which makes it irrelevant, or do they help save the Republic? They have good intentions, but they have been manipulated which was their downfall.
GEORGE LUCAS: There was never a war between the Jedi and the Sith Lords. The Sith lords were in control for a long time. And what happens when you have a world full of Sith Lords? They start killing each other t see who's going to be the top Sith Lord. They don't vote; they just kill. It's the medieval feudal system. (...) Then the Republic came to power and the Jedi brought peace into the galaxy by being ambassadors and troubleshooters. So when the Senate decides to do something, or the Jedi Council discovers something that's amiss, the Jedi fix it. The Jedi don't like to fight people. They're monk-warriors. They're monks first, and they try to convince people to get along. And if you don't comply, your hand comes off. They use their power to keep the governments of all the planets in line, so that they don't do terrible things.
PAUL DUNCAN: And they have the moral authority to do that?
GEORGE LUCAS: Yeah. They are the most moral of anybody in the galaxy. They're monks. The Sith practice the dark side and are way of of balance. They Jedi aren't as much out of balance because they're the light side of the Force. They still have the bad side of the Force in them, but they keep it in check. It's always there, so it can always erupt if you let your guard down. The Emperor snookered the Jedi with Order 66. The nascent Rebellion and the Jedi didn't move fast enough.
GEORGE LUCAS: The Jedi won't lead droids. Their whole basis is connecting with the life force. They'd just say, 'That's not the way we operate. We don't function with nonlife-forms." So if there is to be a Republic army, it would have to be an army of humans.
(The interview is form Star Wars Archives 1999-2005)
George Lucas' foreword for Shatterpoint:
"For a thousand years, the Old Republic prospered and grew under the wise rule of the Senate and the protection of the venerable Jedi Knights."
"As dedicated as the Separatists were in their resolve to create a new order to replace the failing Republic, the Jedi were equally determined to preserve the Republic and defeat the Sith, who they understood all too well were the masterminds of the Separatist movement. They still believed in the Republic, still deemed it a Republic worth saving. Their faith, which gave them superhuman strength in the face of mind-boggling power of the enemy, had yet to be shaken."
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And how they function with life forms:
YODA: Clones you may be, but the force resides in all life forms.
SHAAK TI: They're [the clones] living beings, not objects.
CLONE: We're just clones, sir. We're meant to be expendable.
"He's not acting like the other Jedi. He has no respect for us."
(Clones between each other about the fallen Jedi, Krell (TCW S0409)
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The Jedi were not enslaving the clones, they were not fighting for the Republic because they were corrupt, they were not fanatic stoics and certainly not the villains of Star Wars.