This is absolutely it, and I can only assume that the people who insist that giving money to the poor would stop the poor working have never actually been poor.
There was a study a while back which looked at the idea that "money doesn't buy you happiness". It found that that was true, but only above a certain threshold. If people are comfortable - can afford to own their own house, feed everybody in the family 3 times a day, go out once or twice a week, and travel somewhere nice for a holiday once or twice a year - then increased wealth has no impact on their happiness. But benefits/UBI is a long way below that level.
We're talking "just enough to survive" which, in this day and age, doesn't even always translate to "can feed everybody in the family 3 times a day",* at least not in the US and the UK. The idea that there are masses of people who would be happy to live like that when there are jobs available that would drastically improve their living conditions is just silly.
Of course there are a small minority who would. There are at the moment. The only difference is that they become proficient at playing the system and ever more time, money, and energy is put in to trying to stop them from doing so. And then you also have the collateral damage of people who don't fit into that category being denied the help they need because they fall afoul of some arbitrary rule or don't meet some arbitrary criterion.
*Although of course it should.