> Humans, by virtue of being living, thinking beings deserve lives of fulfillment, dignity, and security.

You wanting people to have that doesn't mean that people deserve to have that. Fundamentally, no one deserves anything. We, as a species, lived for a hundred thousand years with absolutely nothing except what we could carve off the world by ourselves or with the help of small groups that chose to work with us. Everything else since then is a bonus (or sometimes a malus, but on average a bonus).

Also, as much as it sounds nice to declare such things as goals, deserved or not, it is indeed impossible, and probably not desirable, since, for starters, you can't even define what those things would be like. Those aren't actionable, they're at most occasional consequences of a system that is working to alleviate scarcity of resources.

Unfortunately, we're nowhere near that replicator.