We definitely need tools to monitor network health.
As to legal contracts between nodes, if we had that, we wouldn't need as complex a consensus mechanism as we have already. It's this complex, because it doesn't rely on nodes behaving "good".
Putting nodes in a qset is your node stating that you trust these nodes to not collude against you. You're not trusting any individual node to behave in a certain way, you're trusting a set of nodes to not work against you.