Yep. Both him and me have stressed the first half of that several times in one form or other. However, it's nonsense to say that trying to implement ideals is bad, period, because the problem here is that humans are very bad at some things that would be excellent in themselves - like a benevolent dictatorship. If, for example, we had some way to guarantee that one would stay benevolent, then clearly all other political systems should get the axe - to an utilitarian, there's no more justification for their evils! But in reality attempts at one usually end in tears.

However, trying to, say, keep one's desk neat & organized is also an ideal, yet many people, particularly those with OCD, are quite good at implementing it. It is clear, then, that whatever we do, we should first look to psychological realities, and manipulate ourselves in such a way that they assist our stated goals or just don't hinder them as much.