Peter thought nothing of defending Jesus from the servants of the high priest when he lopped off Malchus ear. Jesus healed it to save Peter from death as to strike the servant of the high priest was a capital offense and a death sentence. Jesus was meant to go with them it was time for his sufferings. But he healed so perfectly malchus' ear their was no evidence of the injury to charge Peter. No condemnation could be leveled. Same thing he as done for all who believe when his blood justified us. Romans 8:1. That in part is what it means to be healed by his stripes. His blood is our atonement. But Peter was willing to defend Jesus at that time just the same. the right to self defense is very clear in the bible, we also have the right to watch God bare His arm for us in battle.