One thing you have to remember is that in general, Americans are culturally one of the most generous nations in the world. Broadly speaking, that includes foreign aid and domestic welfare as well as voluntary charity. But at that same time, the US is an industrious nation that prizes hard work. It's a fine line to walk and people fall through the cracks in the system.
Nevertheless, it's extremely uncharitable IMO to suggest that the poor are "hated" in America.