Replacing workers in specific industries is one thing. AI is trying to replace people in general. Expecting new jobs to pop up is misunderstanding the goal of this technology which is to eliminate jobs.
I think that the perception problem with AI is not about the technology itself. It's about the famously parasitic Silicon Valley companies that are the pioneers of the technology. I can imagine a society where AI is welcomed and celebrated, but the people wielding it would definitely need to be less psychopathic than what we have over here.