Did Heinlein ever say or one of his characters ever say..."all I wanted from life was to love a good women and kill a bad man"
No. Heinlein was a writer. He didn't know any women.
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A human being should be able to change a diaper, plan an invasion, butcher a hog, conn a ship, design a building, write a sonnet, balance accounts, build a wall, set a bone, comfort the dying, take orders, give orders, cooperate, act alone, solve equations, analyze a new problem, pitch manure, program a computer, cook a tasty meal, fight efficiently, die gallantly. Specialization is for insects.
Lazarus Long in Time Enough For Love