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The Torah imposes many rules and restrictions upon a Jewish king. He may not have too many wives, nor accumulate horses, silver, or gold (beyond what is needed). He is required to write a Torah scroll for himself and take it with him when he travels. This is to ensure he remembers his monarchy is subject to the laws of the Torah and he must act in accordance with them. It is also to make sure he does not become too arrogant. Rather, he is expected to treat his subjects respectfully, and always keep in mind that it's the king's job to serve the nation.
Nevertheless, there is no explicit commandment to crown a king. This teaches us the primary mitzva is to have some system of government, based on what is best for the nation in a given time period. This system may be a monarchy or a democracy. The key is for the government to be subordinate to the Torah's laws and morals, and for it to take care of the people and help them realize their vision. For without proper leadership, with the authority and ability to enforce laws, an effective justice system cannot be established, an army cannot be maintained, and the Temple cannot be built to help realize our holy vision.
