As a matter of strict values, I share your vision of a world where nobody goes hungry or cold. But I strongly disagree with your path to getting there. You consider a world where nobody has to work as a utopia. My observation is just the opposite. If you take effort away from people, they tend to become entitled, lazy, selfish, and (ironically, with more leisure time) miserable. They may have enough to eat, but they lose so much of their humanity that they become less excellent as people. There is intrinsic value to hard work. In my experience, people who work hard (up to a certain limit) are happier. A society of bored people is one where crime is rampant and people are full of envy and strife (because nothing begets envy like a sense of entitlement). And that's not even to mention practical issues, like the inflation that dogs basic income economies.
My "utopia" is one where everybody works hard when they're working. When they're not working, ideally, they're building strong nuclear and extended families, raising children with a strong work ethic, and teaching them that when they are able, they should help those whose efforts have been less fruitful than their own. That help involves, for example, helping people through tough times, or giving them a lift while they do something to improve themselves like get an education or start a business. The end goal is always for everybody to get to a point where they can support themselves by their own efforts, so that nobody is dependent on government largess (as opposed to everybody). In fact, government hardly enters into it, except for providing some basic infrastructure and emergency services.
Perhaps that society is not possible in our present human condition, but it is an ideal I would sooner seek after than one where an over-powerful central government deals with poverty by subsidizing laziness.
