Most people depend on a job to structure their life. No jobs and a lot of free time would destabilize society. Which is why your government will make sure, that you do either have to or want to work. But for the majority only not-automatable work will be left. Those might be jobs that create status for the top 0.5% - they will essentially become servants - to put it mildly.
> to make sure we're not turned into serfs
A robot slave won't be as interesting as a human slave, makes sense, right?