Welfare isn't assistance to the poor. Welfare in the US is those efforts specifically designed to denigrate and humiliate the poor.
Means testing increases costs and decreases effectiveness and should not be included in these programs. But it always is.
We need to start thinking of ourselves as "shareholders". We invest our individual political authority in out government, who uses that authority to provide essential services to business and individual customer, while charging for those services via taxation. Without the political authority of the citizenry, they would have no ability to provide those services.
We are each individually owed a return on our investment, separate and apart from any of the services we receive from the government. UBI should be thought of as a citizenship dividend, owed to the "shareholders" of government. It is not "charity".