WRT helping the poor, and those down on their luck; this is out of scope. It is of course our moral responsibility to help those less fortunate, as humans. You can and should give to the needy. However, being coerced into donating to a homeless shelter is not donating at all.
Libertarians take the optimistic and perhaps misguided view that humans are inherently good people. Crazy, I know.
I am not opposed to taxes, and support them. Libertarianism is not anarchism. I think government programs should exist, and do well.
My informal theory is that there are two types of libertarians, or two dimensions to it, one regulatory and one financial. I see myself as extremely deregulatory, but not against taxes. So, e.g., I am not opposed to a single payer health care system, with concomitant taxes to pay for it, but am also in favor of massive health care and drug deregulation. Obviously in such a system the government would have to establish rules for itself (in terms of what it would support and would not) but I don't see why that would have to prevent someone else privately from doing something else.
I'm kind of a democrat-leaning libertarian, though, in that I usually (always in the past, but not by principle) vote for democrats when I don't vote for libertarians.
My salient political principle is really about injecting competition into society. Sometimes that might mean government services and/or intervention (where private industry is failing to provide a service or meet a need, or where monopolies exist), and sometimes it might mean massive deregulation (where the government plays favorites through regulatory capture--my definition of regulatory capture being very broad compared to many). So far I haven't found a party that matches my outlook well, although libertarianism in general has maybe been closest.
There will always be private welfare/charity. The government is one of the worst run charities.
For individuals such as myself and yourself, personal donation and charity will always be better to the end recipient than a government run charity (welfare).
The impression I get when I think libertarian is “every man for himself” and “survival of the fittest.” Now, I hate paying taxes but I acknowledge that I’ve been dealt a good hand (a quicker mind). Am I getting the wrong impression?