I wish you could say that universally, but that's just not practical. Think about a 10 year old or an 80 year old. Do you really trust them to not lose their keys? Competence is ideal, of course, but my experience tells me that self-custody is not something most people will do, and maybe even can do.

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A 10 yr old you trust with a small amount, that can be lost. Most 80 yr-olds will need trusted assistance, but still could self custody their savings, even if it's just a piece of paper. Today we probably don't have good enough schemes for that, but we should create them.
Unfortunately I agree. I think the idea of asking normies to keep track of a 12 word seed and ALSO prevent anyone else from seeing it -- it's just not realistic. And the real danger is that someone convinces them to reveal the seed to them.... I'm on lots of Telegram channels where that is literally happening EVERY WEEK. A newbie shows up, gets contacted by scammers via DM, and the newbie gives the scammer the 12 word seed. These aren't stupid people, it's just very, very hard to remember or understand that you need to keep the seed secret.