^^^The way insurance companies typically work is that if you want the insurance company to defend you, you give them the right to settle (in civil claims only). If you are involved in a self-defense situation, and you invoke your insurance to indemnify you, they will likely settle (litigation costs can exceed your liability coverage, leaving you with the excess costs). If the company does settle, then the case can never again be filed (isn't the peace of mind worth the settlement). Considering that a settlement can be reached rather quickly, versus waiting years for a court trial, with pre-trial motions, depositions, and discovery research can take an emotional toll, it's not unreasonable in the least to settle.
Settling a case is NOT an admission of guilt under any jurisdiction's Rules of Evidence. That means that any settlement cannot be used against you in any other case, civil or criminal. The law recognizes that some settlements may be motivated simply as a means of "buying the peace" and putting an issue to rest. It also recognizes that the cost of defending against litigation can cost significantly more than a settlement.
The insurance company cannot require you to admit guilt in criminal court, nor can they enter a plea without your consent. This would be contradictory to the lawyer's duty of zealous representation.
Keep in mind that just because you have insurance does not mean they will defend you. Be sure you understand how your policy works, and what its limitations are. If you are not within the limitations, or if during the incident you commit an intentional crime, or an intentional, malicious act, then your insurance policy cannot defend you.