Original: Whedon, Serenity: Director's Commentary, track 11 "Miranda" What the crew of Serenity, and specifically Mal and his lifestyle, represent is the idea that people should have the right to make their own decisions, even if those decisions are bad.
Simplified: Whedon, Serenity: Director's Commentary, track 11 "Miranda" The crew of Serenity, and specifically Mal, show the idea that people should have the right to chose for themselves, even if those choices are bad.