It's true that humans do not have utility functions
Do not have full conscious access to their utility function? Yes. Have an ugly, constantly changing utility function since we don't guard our values against temporal variance? Yes. Whose values cannot with perfect fidelity be described by a utility function in a pragmatic sense, say with a group of humans attempting to do so? Yes.
Whose actual utility function cannot be approximately described, with some bounded error term epsilon? No. Whose goals cannot in principle be expressed by a utility function? No.
Please approximately describe a utility function of an addict who is calling his dealer for another dose, knowing full well that he is doing harm to himself, that he will feel worse the next day, and already feeling depressed because of that, yet still acting in a way which is guaranteed to negatively impact his happiness. The best I can do is "there are two different people, System 1 and System 2, with utility functions UF1 and UF2, where UF1 determines actions while UF2 determines happiness".
Edge.org has recently been discussing "the myth of AI". Unfortunately, although Superintelligence is cited in the opening, most of the participants don't seem to have looked into Bostrom's arguments. (Luke has written a brief response to some of the misunderstandings Pinker and others exhibit.) The most interesting comment is Stuart Russell's, at the very bottom:
I'd quibble with a point or two, but this strikes me as an extraordinarily good introduction to the issue. I hope it gets reposted somewhere it can stand on its own.
Russell has previously written on this topic in Artificial Intelligence: A Modern Approach and the essays "The long-term future of AI," "Transcending complacency on superintelligent machines," and "An AI researcher enjoys watching his own execution." He's also been interviewed by GiveWell.