The finall Cause, End, or Designe of men, (who naturally love Liberty, and Dominion over others,) in the introduction of that restraint upon themselves, (in which we see them live in Common-wealths,) is . . . getting themselves out from that miserable condition of Warre, which is necessarily consequent (as hath been shewn) to the naturall Passions of men, when there is no visible Power to keep them in awe. According to Hobbes, why do people form social contracts to “live in Common-wealths”?

to gain dominion over others
to escape their miserable natural states
to enjoy their natural passions
to keep others in awe