> being stuck in a situation where your livelihood can disappear at a moment's notice due to factors beyond your control is no way to live

That is literally the only way to live. Disaster stalks us an is only ever one misstep away (sometimes literally). In rare instances people can even just fall over and die.

In the sense that there should be food and shelter for everyone, even poor people; strictly speaking I think most countries have already agreed to that. Although how well that gets implemented is open to a lot of debate. But beyond that everything can always change at a moments notice.