I'm pretty sure Mengsk knew more or less exactly what he was hoping to accomplish. That's kind of the difference between the two; Mengsk actually had an agenda. Regarding Raynor, I think one of the Joker's quotes from 'The Dark Knight' says it best:
"I don't have a...plan. You know what I am? I'm a dog chasing cars, I wouldn't know what to do with one if I caught it, I just DO things."
I think Raynor probably has more in common with Tosh than Mengsk. Tosh at least has no delusions that he's actually doing anything positive or that his actions; 'Killing Mengsk and Burning his Dominion to the ground,' will eventually work out for the greater good. He is motivated by his Hatred of Mengsk and nothing else. But he's at least honest about it. In the cutscene after prison break, Raynor even seems to agree with him somewhat.





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