"they both encouraged us to study so we could do better than they did"
And the parents who do this are not the ones who will sit home and drink beer all day just because they're getting a $2k/mo basic income. Instead, they could go back to school, or start a business, or travel outside the country once in awhile, or spend more time teaching their kids an important skill like music or math or programming because the intense, ceaseless, soul-destroying pressure of just getting by has been lifted a bit.
Also, while I understand that police officers don't make a lot and it's very tough job, it's also a very stable job with benefits, a pension, etc. so I imagine that despite not being anywhere close to wealthy, your parents also didn't need to spend their days focused solely on survival like someone who works minimum wage with no job security, who has possibly no health insurance, who likely has to frequently get high interest payday loans to make rent or buy food... that kind of lifestyle is extremely difficult to dig out of, and it leads inevitably towards family breakdown, crime, health-destroying habits, mental illness, and general despair. That's who basic income is really for. I mean these people are literally killing themselves just to get by, and the response of many folks with far more privilege is "eh, you'd just be sitting around drinking beer otherwise".