The phrase "they hate us for who are are" is probably more accurate, but only slightly less so than the "hate freedom" tag. The Islamic fundamtentalists certainly hate freedom. Islam, literally translated, means "submission", and they interpret this literally - all must submit to Islam, which they view as the true and final expression of God's law. But the hatred is very much a kind of racism, which see those who are not followers of their creed (be it extreme Wahhabism or Shiism or derivative thereof) as kuffurs.
The secular Muslim has as much to fear as we do, but we have to fear it first. Moreover, the Jews - history's 'canary in the coal mine' - have to fear it first among all. Regardless of Israel's existence, Judasim represents the original religion that Islam claims to supercede. It adherents have long been thorns in the sides of subsequent revisions to the Abrahamic tradition and their are the primary focus.
Bin Laden probably cares more for the Palestinians than any other Arab leader (including Abbas, and Arafat for that matter). However, that doesn't mean that he cares whether they live or die, and certainly doesn't mean that he cares that they achieve nationhood - he rejects nation states as anathema to Islam. The election of Hamas demonstrates just as clearly that the Palestinian people have ejected that aspiration as well.
Bush was wrong to call it the "war against terror". Guliani, as the only leader to personally experience the 9/11 terror attacks so close to home, is more correct. This is a war against radical/fundamentalist Islam. It is an infectious and virulent political/ideological desease and must be combatted on many levels. One is certainly cultural/social - but not poverty alleviation - there is far too much corruption for that to work, and besides the majority of the terrorists who have carried out successful attacks (suicide or otherwise) are demonstrably not from poor families - at best you can argue that they are rich kids with a guilt complex over their poor brethren. Why they couldn't go and do work in social services rather than kill innocents is a debate for the psychologists.
There is also, necessarily, a military component. These people do operate military units and have the support of various governments. They aim to attack civilians almost exclusively; the majority of their attacks across the world, even in Iraq, are aimed at defenceless civilians - particularly women and children - just watch the videos of those convicted of the attempted followup to the London bombings and see the chilling scene of the bomber turning his explosive laden pack towards a mother and child in the train. It shouldn't take anything more to convice a morally decent person that these people are scum. So they must be hunted down - their leadership must be destroyed, physically.