PG is saying you don't have to be rich to launch a successful startup. By this, I believe he means private-school, summer-house, frequent-flyer-miles-in-your-early-20s rich. I would contend this is at least 90th-percentile rich for US households.
His critics suggested he be sensitive to those who literally have no safety net, and could not move back in with their parents if it all came crashing down—I would contend this is at most 40th-percentile "rich" for US households.
Can we cut the guy some slack and let him speak to the 50+% of people in the middle? Honestly, that's undoubtedly where the bulk of his target audience resides—people who'd like to launch a startup but worry that they're not sufficiently privileged to do it.