a) Freedom from tyranny means being free from obtrusive interference—unnecessary or excessive actions by others or the state; generalized pressure.
b) Intrusion is particularized interference, justified when there are specific, necessary, and rational reasons, ensuring it is done within a just and limited scope.
The line between libertarianism and statism per-se is defined by this distinction: the state should not be obtrusive, but it can be appropriately intrusive when it has a legitimate ethical mandate to act.
Simply stated