I think this is a really good point I haven't heard in the discussion before. I would imagine that simply changing the name from "welfare" to something that implies motivation would make a difference.

Imagine: You're 18 years old and your Dad gives you $500. He says, "You don't make any money and have to rely on me. Here is your spending money" or "You'll be making a lot of money (value) later on in life, this will help you kickstart it."