Why do some people think that U.S. slavery wasn't that bad? Don't they know they're being offensive by saying such a thing?

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It’s mostly ignorance. Americans don’t really study history in school, other than in very broad idealistic strokes, so they don’t have a real understanding of slavery. Slavery existed in every society at one point in time, all over the world. But the American system of chattel slavery was one of the worst regimes that ever existed. Only some of the Caribbean systems were worse.

People who are willing to express such opinions also don’t really care whether they’re being offensive or not. Goes hand in hand with the ignorance.