It would seem as though Mr. Jefferson would, ummm, disagree...
“The laws that forbid the carrying of arms are laws of such a nature. They disarm only those who are neither inclined nor determined to commit crimes…. Such laws make things worse for the assaulted and better for the assailants; they serve rather to encourage than to prevent homicides, for an unarmed man may be attacked with greater confidence than an armed man.”
– Thomas Jefferson, Commonplace Book (quoting 18th century criminologist Cesare Beccaria), 1774-1776
No it doesn't.
The Second Amendment was made for a specific purpose. Just because it says "arms" doesn't mean it covers every single thing to do with arms ever thought of.
The 2A was designed to protect the militia by giving individuals the right to own weapons, so the militia would have a ready supply of arms, and the right to be in the militia so the militia would have a ready supply of personnel.
There was no reason for the Founding Fathers to protect the right to individual self defense as this had nothing to do with the government.
Self defense is actually protected, but not through the Second Amendment.
So Jefferson saw the need for carrying of arms for self defense. That's nice. He probably also saw the need for eating food, or breathing oxygen, or doing exercise, but none of these got protected by the Second Amendment.