Agent Smith from the Matrix says utopias are an impossibility.

"Did you know that the first Matrix was designed to be a perfect human world where none suffered, where everyone would be happy? It was a disaster. No one would accept the program. Entire crops were lost. Some believed that we lacked the programming language to describe your "perfect world". But I believe that, as a species human beings define their reality through misery and suffering. So the perfect world was a dream that your primitive cerebrum kept trying to wake up from." ―Agent Smith to Morpheus [src]