Here's the best analogy I can think of:
If anyone has taken a long distance trip on a commercial jet in the past 20 or so years, the pilots have used autopilot at some point. Does the pilot and co-pilot both get up and leave the cabin at the same time? No. Why? In order to ensure that a responsible person can take control the plane in the event of something going amiss (I believe federally mandated). So what is so different about this system? Nothing. The driver of the vehicle is still responsible for ensuring that they are in control of the vehicle at all times. How many people would think twice if someone said that there was no pilot on the plane? Most likely everyone. People who decide to sit in the back seat and show off, or fall asleep fail the first task of responsibility. Raise the penalties accordingly, including revoking driving licenses.
When you call something "self-driving", that infers (to me, at least) that it can manage without the aid of a driver. Google has said that, and has gone the extra step of trying to eliminate the driver by removing the steering wheel, which the US government has turned around and kiboshed the idea.
Autopilot is evolving, but even Musk has said it is not currently fully autonomous and has a ways to go. Yes, he has an idea of where the technology is going and has expressed it. The press, including the likes of Consumer Reports, Car and Driver, MotorTrend, etc who have spent time evaluating these systems puts Tesla at the tops, but not without caveats. What's funny is that the likes of Consumer Reports have only asked Tesla to stop, but nobody else - and that is wrong. If they're going to take a stand, then they should be requesting all the manufacturers to stop. That includes Mercedes, BMW, Audi, Cadillac, Jaguar, Rover, Google and probably more.
Personally, I see no problem using Autopilot. Take the time to understand the system, how it works, the caveats and most importantly pay attention - it's a useful tool. Abuse it and well...