Lupescu clearly sees how Kant wants man to exercise his freedom to think and discuss things, but not change things, while Marx advocates that change, social change, must be brought about by man freeing up the faculties of his mind.
Both Kant and Marx hope to build better people and better societies with their call to think and obey (in Kant's version) and to think and disobey or revolt (in Marx's version).
This makes sense as Kant's social status required stability to hold his status, while Marx's proposal cried for change, as the people whom he tried to represent were living in unsustainable conditions.
As they say, "where you stand depends on where you sit".
My two cents worth: better is better, but not always. I think we should first decide what we mean by "better". It's a comparative of "good" and it's a horribly unquantifiable concept, which is also hard to precisely define.
How do you work toward something that you only have hazy, vague idea of, and no measurement tool to decide whether you're progressing or not toward your goal?