Need is not a valid claim on anyone else's life. I didn't make them poor. My moral responsibility lies with making my own life the best. In doing so, I'm not harming anyone, because it's not in my interest to sacrifice others to myself (just as it is not in my interest to sacrifice myself to others.) Instead of begging or stealing, I advocate trading.
Or do you help them out of their current situation so that they can better help themselves in the future?
If I have to choose between something I value more (say my wife is in anaphylactic shock and needs to be driven to the hospital), and someone I see in a car wreck on the way to the hospital, I'm going to choose my wife, because she's a higher value to me than anyone else.
However, if I don't have something that pressing to worry about, and I physically come across someone is injured in this way (so this is an emergency context, which is by definition something that doesn't happen frequently), I'll help. The sight of someone suffering from an unforeseeable emergency is an awful thing, and if I happen to come across it, I'd do what I could to help, so long as it wasn't a sacrifice for me (didn't leave me significantly poorer, less able, etc.)
None of this means that I should drive around town looking for people that are stranded or injured, or that I need to give my money to people that I'll never meet.
I hope this clarifies things.