Welfare vs Charity

This issue bothers me more than anything nowadays, so let's have debate.

So why should a person be FORCED to help someone else? If someone needs help, they can always ask for charity.

Individuals only have rights insofar as they are able to defend them.
Individuals, therefore, in the interests of security and a common vision of what these rights should be create societies.
The goals of every human society are the preservation of the society's vision, and the security of its members.
The position of the method by which goods are exchanged in these societies, its economy, must be subordinate to its goals.  Otherwise its goals are subordinate to its economy.  If a societies goals are subject to its economy, its members have only those individual rights they can afford to buy.
Freedom may be man's natural state, but all men are born into societies, and membership in a society restricts freedom and instead confers liberty in accordance with its vision and its goals.  This liberty comes at a price, and its rewards and preservation require  contribution.  That the entire habitable 21st century world has been claimed by various societies, and there is no longer any way to live completely outside one of these societies bears repeating. 
Absolute private ownership is impossible in any society, and to underscore my point I'll mention that, as is common knowledge, all contemporary societies employ the concept of eminent domain.  The argument over the justification for private ownership is moot.  Rather than private ownership, societies confer liberties based on investment. To judge this investment based primarily on economic grounds subordinates the society to its economy.  A society whose primary goal is overall wealth, regardless of it's distribution, is best represented by monarchy, aristocracy, or oligarchy.  The goals of a democracy or a republic must be more noble, or they need not exist.  The goal must be greater liberty for all.  
I believe that a man must have food and shelter before he is capable of pursuing life, liberty, and happiness.
Capitalists, insofar as their position within society is concerned, believe that they can have their cake, and eat it too.