Heinlein's Time Enough for Love quotation is usually a good starting point for his outlook.
Not too far off from Hemingway, really.
The Roads Must Roll is a decent starting for point for understanding his social views. In that short story there's basically one very economically-vital new technology (the roads, which are basically nation-wide, always-on, giant conveyor belts, so that no one actually has to have cars or wait for trains. Whole buildings are moved regularly this way). A carefully-screened corps of "cadet" engineers run the operation, but stage a coup and use their control of the roads to hold the nation hostage. Basically, a stand-in for workers on the eve of a Communist revolution. It ends badly for them, because no one segment of society can claim to be "the most important": they're all necessary and important. Afterwards, the long-term solution to prevent this from happening again is not just technical, but an even higher level of militarization and devotion for the cadets.
So in one short story you have an all-important public service corps that is organized like a combat-free military unit to keep things running, the public free economy which depends on these services but doesn't necessarily answer to any government, and the short-sighted, selfish social movements which threaten to tear it all down (and thus make the first absolutely critical to making the second work).
In other words, Heinlein embodies early twentieth century American values: a capitalist economy here, a powerful but self-restrained government there, and an understanding that they will help each other without getting in each others way too much.