Well, put it this way. If you don't help out the needy, you set the stage for very expensive and violent rebellion among the lowest classes. The modern welfare state was simply a concession needed to fend off communists.
In the US, we're stuck in this half-ass zone where we don't help anyone out until they're near-death, which ultimately just ends up being more expensive than either helping them properly or simply letting them die. Without a welfare system of some sort, if you weren't born into money, all it takes is one financial disaster to permanently put you on the street. And considering we're hardly meritocratic, you end up privileging those who knew how to bullshit the best hundreds of years ago over actual ability. So that being said, there's still a middle ground that helps people in need without waste, and I view that to be replacing this welfare state with a more efficient $2k yearly negative income tax or basic income for all adults. It'd be cheaper than what we do now, we can encourage saving through a carrot-on-a-stick I'd have to think up, and people would have incentive to make something of themselves since it's not enough to live off anyway. There's also other important things we need to do, like prioritising non-luxury housing and easing draconian zoning codes to reduce cost of rent.
Without a welfare system, you don't ensure the welfare of all individuals in need. Tea Party conservatives have touted just "going to your church" for help; works all fine and dandy until you realise marginalised groups like gays and trans people wouldn't have access to any help or support.
An efficient welfare system ensures that all who need help are provided for. Neither our current approach nor just letting people die is doing that successfully.