I find that a lot of anti-socialist sentiment boils down to a basic belief that people are lazy and

From the results of every experiment involving a modest (like $500/mo) subsidy to people far below the poverty level in a community that I have seen, I would say you are correct. The vast majority, partially freed from the need to do just anything for shelter and food in their lives, have improved their lives and earning power: getting further education or training for better jobs, exploring better paying and/or riskier employment options they did not feel secure enough to try, launching entrepreneur small businesses. Yes, there were loafers, and those who failed to better their situations, but they were far in the minority. Overall, communities improved, tax bases rose -- a win/win.