It kind of makes sense after what we've learned about the Federation. The Federation has no money and it's hard to accumulate wealth (Starfleet heroes like Riker and Picard don't even have personal starships seemingly in the Picard show) because you're working only to "better yourselves" (presumably having a non-paying job is a requirement if you're an adult Fed citizen) but on the flip side poverty is "eliminated" in the bare minimum sense (you're guaranteed a Raffi-style trailer home and a replicator for food and clothing).Picard was speaking only of the worlds of the Federation.
Kirk talking to another Human, was speaking of all the worlds Humans were on. The majority of Human worlds are not a part of the Federation
Humans who want to accumulate money, property, etc. may want to risk it out there as not part of the Federation. So there's a tradeoff.