I say keep them both: Establish an absolute bottom that gives every US resident shelter, food, medical care, and clothing. But not very nice shelter, food, medical care, and clothing. If you are disabled, mentally disturbed, or just lazy you can coast by on the minimums. If you want more, get a job or figure out a business.

Our current welfare system excessively rewards those who have it together enough have an address, can get to appointments, can wait in long lines, etc. and does almost nothing for those who can't do those things. That's why I advocate for no cost for the minimums. All you have to do is walk in and get them.