"And therefore there is no great loss if we remove fear of dying from the list of motivators to work."
It's unbelievable that our species is still debating whether or not "fear of dying" should be a motivator of everyday behavior at work.
Find the US city where you'll die if you don't have a job. This supposition is simply untrue.
Furthermore, homelessness and malnutrition also increase the death rate. There are lots of homeless and hungry people in the US.
So while you might not immediately die due to being unemployed, as there are a variety of safety nets, being without a job will, statistically decrease your expected lifespan. Food assistance does not prevent people from going hungry. Homeless shelters are packed to the brim, and in some cases quite unsafe. You can't get non-emergency care if you are unemployed and broke, at least until Obamacare kicks in (or if you are covered by Romneycare).
While working solely to live longer and live decently doesn't have quite the same ring as working solely to avoid dying, the meaning of his statement seems clear.
The hope is that it can be administered in a way such that it will not greatly harm incentives to be successful either, merely dampen the curve by some percentage: so there are still rich and poor people, but the rich people maybe will only be 20x as rich as the poor instead of 200x. It's still much better to be successful than to be on welfare, both in terms of prestige and social standing, and material comfort (you can think of it as an order-preserving nonlinear mapping). And there are some arguments that it may help economically in some cases: by raising the floor of what bad outcomes look like, it becomes more plausible for individuals who don't have a family safety net to take risks.
As for what possible societal benefit, the Scandinavian societies are fairly nice places to live, partly as a result, though making like-for-like comparisons in economics is notoriously difficult. They certainly have lower levels of severe poverty, crime, homelessness, etc. But there are many books arguing for and against these views, so I'm not sure I can convince you in a comment.