You are laboring under a common anti-gun liberal and uneducated misconception about personal and home defense.
In any jurisdiction killing another human being, intentionally or no, is defined as homicide. Whether or not it is a criminal act as opposed to self defense is another animal entirely. If I shoot someone at work because I am defending myself or someone else I've committed homicide until cleared by the investigating authorities and I'm empowered to do so beyond the average joe citizen.
Carrying on your person (concealed with a permit or as otherwise required by law) a firearm for defense is not considered homicidal intent. Nor is having a firearm in your house for defense considered as such in any jurisdiction, (although some places might not allow you to own a firearm - which another test case of is coming before the Supremes again soon). Now, some jurisdictions may "require" you to use what is legally called "an avenue or path of retreat" before dumping someone who has invaded your home (the state I live in has that requirement - although I have yet to see it practiced) but all that does is make sure you understand that if the bad is running out the door with your TV you can't just shoot him in the back, and some states have the "castle laws" which sensibly allow you to defend your property be it inside or outside (mileage may vary) your domicile.
Regardless of all the technicalities, the bottom line is always the totality of the circumstances, and that is going to be what was the guy doing in your house and what did you feel his intent was. Was I afraid the intruder would harm me or my family? What time of day/night was it? Was he/she armed? Was the person on meth or other drugs? Mental?
But to argue that legally carrying or owning the means to defend oneself in their home, and being ready and willing to use said means is equal to criminal intent is, well, beyond belief. Its called your constitutional right and good sense. Speaking with a high degree of authority I can tell you that when seconds count the cops are only ten minutes away.
You sure you want to have just less-lethal in your hand? I've been tased, as part of training, and I can tell you all it did was stun me for the 5 second cycle...after that I could get right back up and into the fight. I've seen the same thing happen many times on duty. You point a gun at someone without the intent to use it and that guy may very well take from you and use it on you and your loved ones. They ain't the magic wands you see in TV shows and in your RPG games.