No, it doesn't. There is no right to form a militia for The People. Some states have banned a private/non-state militia, and do not organize or regulate a state militia outside of the National Guard, leaving you no militia option in that state.
And taking it even further, some states ban types of "paramilitary training" outright. The statutes are fuzzy, and were basically just a knee-jerk reaction to the swelling number of survivalist/extremist groups in the 70s.