The way to stop feeling guilty is to read stuff - I'm not saying my book, but works by Bertrand Russell or Oscar Wilde, people who weren't losers but who didn't believe in the work ethic, and argued this thing about guilt or wrote philosophy about idleness.
Change from below, the formulation of demands from the populace to end unacceptable injustice, supported by direct action, has played a far larger part in shaping British democracy than most constitutional lawyers, political commentators, historians or statesmen have ever cared to admit. Direct action in a democratic society is fundamentally an educational exercise.