In an interesting discussion of social change and especially the best ways to spread classical liberal ideas at Liberty Fund’s Online Library of Liberty, historian David M. Hart has high praise for the Encyclopedia of Libertarianism (published by Sage in conjunction with the Cato Institute):

The Encyclopedia of Libertarianism provides an excellent survey of the key movements, individuals, and events in the evolution of the classical liberal movement.…

One should begin with Steve Davies’ “General Introduction,” pp. xxv-xxxvii, which is an excellent survey of the ideas, movements, and key events in the development of liberty, then read some of the articles on specific historical periods, movements, schools of thought, and individuals.

He goes on to suggest specific articles in the Encyclopedia that are “essential reading” for understanding “successful radical change in ideas and political and economic structures, in both a pro-liberty and anti-liberty direction.” Here’s his guide to learning about the history of liberty in the Encyclopedia of Libertarianism:

1. The Ancient World
   
   1. “Liberty in the Ancient World”
   2. “Epicurianism”
   3. “Stoicism”
2. Medieval Period
   
   1. “Scholastics — School of Salamanca”
3. Reformation & Renaissance
   
   1. “Classical Republicanism”
   2. “Dutch Republic”
4. The 17th Century
   
   1. “English Civil Wars”
      
      1. “The Levellers”
      2. “John Milton” & “Puritanism”
   2. “Glorious Revolution”
      
      1. “John Locke” & “Algernon Sidney”
      2. “Whiggism”
5. The 18th Century
   
   1. 18thC Commonwealthmen — “Cato’s Letters”
   2. The Scottish Enlightenment
      
      1. “Enlightenment”
      2. “Adam Smith”, “Adam Ferguson” & “David Hume”
   3. The French Enlightenment
      
      1. “Physiocracy” — “Turgot”
      2. “Montesquieu” & “Voltaire”
   4. “American Revolution”
      
      1. “Declaration of Independence” — “Thomas Jefferson” & “Thomas Paine”
      2. “Constitution, U.S.” — “James Madison”
      3. “Bill of Rights, U.S.”
   5. “French Revolution”
      
      1. “Declaration of the Rights of Man and of the Citizen”
6. The 19th Century
   
   1. “Classical Liberalism” — the English School
      
      1. “Philosophic Radicals”
      2. “Utilitarianism” — “Jeremy Bentham”
      3. “Classical Economics” — “John Stuart Mill”
   2. “Classical Liberalism” — the French School
      
      1. “Jean-Baptiste Say” & “Benjamin Constant”
      2. “Charles Comte” & “Charles Dunoyer”
      3. “Frédéric Bastiat” & “Gustave de Molinari”
   3. Free Trade Movement
      
      1. “Anti-Corn Law League” — “John Bright” & “Richard Cobden”
   4. “Feminism and Women’s Rights”
      
      1. “Mary Wollstonecraft”
      2. “Condorcet”
   5. Abolition of Slavery — “Abolitionism”
      
      1. “William Wilberforce”
      2. “William Lloyd Garrison” & “John Brown”
      3. “Frederick Douglass” & “Lysander Spooner”
   6. [The Radical Individualists]
      
      1. “Thomas Hodgskin”, “Herbert Spencer”, & “Auberon Herbert”
   7. The “Austrian School of Economics” I
      
      1. 1st generation — “Carl Menger”, “Eugen von Böhm-Bawerk”
      2. interwar years — “Ludwig von Mises”, “Friedrich Hayek”
7. Post-World War 2 Renaissance
1. “Mont Pelerin Society” — “Friedrich Hayek”, “Milton Friedman”, “Karl Popper”, “James Buchanan”
2. Institute for Economic Affairs (IEA) & “Antony Fisher”
3. Foundation for Economc Education (FEE) & “Leonard Read”
4. Institute for Humane Studies & “F.A. Harper”
5. The Austrian School of Economics II
   
   1. post-WW2 2nd generation — “Ludwig von Mises”, “Friedrich Hayek”, “Murray N. Rothbard”, “Israel Kirzner”
6. “Chicago School of Economics” & “Milton Friedman”
7. “Objectivism” & “Ayn Rand”
8. “Public Choice Economics” & “James Buchanan”

There’s your college course in the history of liberty right there, all for $125 (or a trip to a good library). You might also start with Chapter 2 of The Libertarian Mind, which is sort of a brief outline of what you could learn from all these articles.