I know of people who live on the welfare system, and yet they are very capable persons.
Assuming you know them well enough that would be the anecdotal exception not proving any particular rule. If you know someone defrauding the government you should report the theft.
And yet your one anecdotal example does not represent the entire population of the US.
As an illustration it actually does. Welfare is subsistence living. Unless you work in fast food/unskilled positions, you can do appreciably better with any full time employment.
Says who? You're forgetting that if the government wasn't taxing everyone so much in order to fund such welfare programs that everyone would be able to make more money when they have a job. A 5% personal increase (income) tax is more than enough to fund the entire government when it performs only it's just functions.
The disabled, children, and many who are elderly are incapable of working to sustain themselves and the "just functions" bit is your bias controlling nothing on point.
Jesus Himself said that the poor will always be with us.
He wasn't suggesting an indifference in thought or action. Murder will always be present in our imperfect world, but we don't alter our opposition to it over that fact.
I know that the Lord will maintain the cause of the afflicted, and justice for the poor. Psalm 140:12
Did not your father eat and drink, and do justice and righteousness? Then it was well with him. He pled the cause of the afflicted and needy; then it was well. Is that not what it means to know Me?" declares the Lord. Jeremiah 22:16
He who is gracious to a poor man lends to the Lord, and He will repay him for his good deed. Proverbs 19:17
Behold, this was the guilt of your sister Sodom: she and her daughters had arrogance, abundant food, and careless ease, but she did not help the poor and needy. Thus they were haughty and committed abominations before Me. Therefore I removed them when I saw it." Ezekiel 16:49-50
The righteous is concerned for the rights of the poor; the wicked does not understand such concern. Proverbs 29:7
We're not going to be able to change that
You can change it for many. The inability to do all good should never preclude the effort to do the good we can do.
But did you know that the poor in America, because our standard of living is better than most of the rest of the world, live better than the middle class in Europe.
Our poor are better off than in a large part of the world, which you'd expect from the the richest nation on earth. The "better than the middle class in Europe" is complete nonsense. You may be thinking of a Pew bit that noted our poor live better than the middle class of much of the world. But much of the world lives in abject poverty. By way of example, 56% of Americans were in the world's high income group in 2011. How did they manage it? By living on more than 50 dollars a day.
lain: Global income comparatives can lead to a family of four being classified as middle class by virtue of a 15k a year income. And while that might buy you a surprising amount in some third world countries it won't allow you to live here without assistance.