Being poor is not fun. Period. Can you imagine living on $20K, $30K, $40K, a year? Depending on where you are in the US that might just cover your living costs. There is a large segment of the population that will not get degrees, not work in jobs that are considered "careers".
In any demographic class there are people that abuse the system, but I wouldn't consider the poor in that category. These people are as or more hard working than the middle class.
Also, the government giving disability and welfare doesn't mean they are bringing in $100K a year in benefits. The government provides enough to live on.