The word "deserving" implies there is such a thing an undeserving person. This is an entirely subjective claim - which I reject out of hand. The very basis of human rights, what sets them apart from all laws, rights and philosophies prior to 1948, is that they are NOT granted by a government, a deity or anything else. They are had by mere virtue of being born human - and nothing can justly deprive one of them.  The very first item on the list is "the right to life".  
There may be plenty of charity to go around - but there has never, in all of human history, been ENOUGH to go around. And in the context where you state this - frankly there could only BE enough if it enabled NOBODY to EVER fear quitting their job and spending time looking for another, or risk their savings on a new venture.

Welfare has the wonderful effect of freeing people from that slavery, allowing them to have some actual choice in WHO they work for (which is better than nothing).