Yes, I agree. In my opinion, every resident of a country should have both social and medical security. The reason is simple: there are two main ways that the government finances itself: consumption taxes and earnings taxes. Earnings taxes are proportional, or even progressive; anyways, 0 earnings -> 0 taxes. On the other hand, even the homeless are paying consumption taxes - if they eat food, someone has bought it, and that someone also paid taxes; so, if you give food to a homeless person, you're also donating a share of taxes you paid.

That way, everybody is taxed fairly - proportionally to how much they earn and consume. So, everybody should also be treated fairly - provided all the basic services that the government provides.