If you want to do it without editing the core files, you can hook into the post_submitbox_misc_actions action and add some jQuery that will fire onload:
function default_post_visibility(){
global $post;
if ( 'publish' == $post->post_status ) {
$visibility = 'public';
$visibility_trans = __('Public');
} elseif ( !empty( $post->post_password ) ) {
$visibility = 'password';
$visibility_trans = __('Password protected');
} elseif ( $post_type == 'post' && is_sticky( $post->ID ) ) {
$visibility = 'public';
$visibility_trans = __('Public, Sticky');
} else {
$post->post_password = '';
$visibility = 'private';
$visibility_trans = __('Private');
} ?>
<script type="text/javascript">
(function($){
try {
$('#post-visibility-display').text('<?php echo $visibility_trans; ?>');
$('#hidden-post-visibility').val('<?php echo $visibility; ?>');
$('#visibility-radio-<?php echo $visibility; ?>').attr('checked', true);
} catch(err){}
}) (jQuery);
</script>
<?php
}
add_action( 'post_submitbox_misc_actions' , 'default_post_visibility' );