Law and order from the law

Hello Rabbi,
I thought a little about the above concepts, and a question arose in my mind:
I suppose it is more positive to act outside the law than legally, if possible of course. It is the right thing to do.
If the ‘right’/more positive/moral thing is to do something that is contrary to the law, why doesn’t that make it a law?
If a person can do better than he is currently doing, isn’t it required of him to do so? Required in the sense of a law.
 
Although this feels a bit sloppy (the conclusion doesn’t seem likely), I’d love to know what you think is the flaw.
thanks,