I think you're misreading the comment? He isn't judging poor people. He is criticizing a system where you only get UBI if you don't work (i.e. not UBI). Such a system means that lower skilled workers actually gain nothing from working.
That is a shitty situation to be in. Most people want to feel like they are contributing. And they absolutely do contribute through their roles, even if they are also "making someone else money". They should be rewarded on top of the "bare-minimum existence" for doing so.
I don't see at all how you can jump from "I don't support people getting paid more to not work than to work" to "the only path to righteousness is through a lifetime of toil".
That is a shitty situation to be in. Most people want to feel like they are contributing. And they absolutely do contribute through their roles, even if they are also "making someone else money". They should be rewarded on top of the "bare-minimum existence" for doing so.
I don't see at all how you can jump from "I don't support people getting paid more to not work than to work" to "the only path to righteousness is through a lifetime of toil".