Without being too cynical (although one has to be given the long history of mankind):
- For the vast majority of people and during the majority of human history, work is a burden, not a pleasure
- People tend to love the output production of work more than work itself
- Humans working for other humans is a way of enjoying the output without the burden of working by yourself, if you are potent enough to afford that
- Everyone want to be at that position where you get the benefit without doing much for it, that's why human workers keep asking for higher wages
- Automation is a way to enjoy an increased output compared to human work, without the burden of having to share part of it with human workers
- Every automation that removes some humans lessen the part that you have to share with other humans, and is thus highly beneficial
Like the OP said, when technology has arrived to the point where there is no need for human work anymore, then 99% are just useless parasites and can safely be eliminated. The remaining society will resemble the utopia in The Dancers at the End of Time by M. Moorcock, which is good if you ask me. Now the problem is, you and I will probably not be part of it, unless your assets put you in the top 1%ers.
Thing also is, it wont be an on/off switch. Changes are gradual and the more technology progress, the more people tend to have zero value on the work market. In 5 to 10 years, the large majority of people working in transportation will be useless. In 10 to 20 years, the majority of people processing information (secretary, accountant, ...) will be useless. Depending on the field, people working in commercial fields will be useless in a shorter or longer time frame, starting with asset managers who are easier to replace. The question is not whether it exists some work that cannot be automated, be rather when you job will be automated. And believe me, it will be you our lifetime.
You have a ticking clock above your head and must enter the top 1%er before its final tick. If you don't, you will see what it was like 200 years ago and like you said, you don't have the knowledge to be self sufficient.