Most normal humans don't want to sit around and do nothing, they want to be productive and make personal goals, balance risk versus security, have control of their destiny, and be able to provide better for their families than they did for themselves.
The above is all very true, but it doesn't follow that humans therefore want to spend their working hours doing tedious manual labor that could be done better by a robot. (I'm not sure you were saying that it did follow, btw)
Ask just about anyone what their dream job would be, and they'll tell you. Ask them why they aren't currently doing their dream job, and they'll tell you that as well -- often it's because there's little or no money to be made as an actor or dance instructor or professional hang glider pilot or artisanal woodworker or etc. Many of these activities can only be hobbies instead of jobs, because people need to feed their children and pay the rent, and so they are forced into doing whatever drudgery the market is willing to pay for, instead of the activities they are really good at and enjoy doing.
But does it have to be that way forever? Without robots and AI, the answer is probably, yes -- there are un-fun tasks that nevertheless need to be done, so those are largely the tasks that society is willing to pay for. The garbage bins aren't going to empty themselves, and all that.
But in a future society where robots can perform most of these everyday tasks effectively "for free"; there is no reason to force a human being to do those tasks. Instead, with the menial labor done by robots, the wage-slaves could then be freed up to pursue whatever "dream job" they want to have, regardless of whether they can find someone willing to pay them much (or anything) to do that job, or not.
How could they afford it? Either because the robot labor has made goods and services so cheap that even a minimal salary is still plenty to meet one's financial needs, or because a system has been set up to tax the robots and use that money to subsidize paying salaries for jobs that would otherwise not be economically possible. Probably a combination of those two things.
Is that happy scenario inevitable? Not on the short term -- the default scenario would be that the owners of the robots keep all their robot-generated wealth to themselves, and become incredibly rich while everyone else becomes unemployed. But what happens then -- when 99% of the population is on welfare? The only difference between that and the "happy scenario" is that the out-of-work majority has no incentive to do anything constructive, and is still viewing their unemployment as a personal failure rather than an inevitable consequence of superhuman AI -- and that stigma will fade rapidly once it becomes apparent that it applies to everyone, not just to the traditional "losers". At that point, people will stop calling it "welfare" and start calling it a "basic living stipend", and if democracy still exists, they will adjust the funding levels provided by it such that the robots' productivity is enjoyed by all and not just by the super-rich.
But that leaves the problem of hopeless couch-potato-ism; so an enhancement to just cash handouts would be encouraging people to pursue their dream activities, and paying them to do so. Then we'd have people living rewarding lives that they chose for themselves, rather than sitting around feeling bad about being on the dole, or slowly dying inside doing tedious make-work.