Poverty certainly aggravates things like mental illness and drug addiction, and is strongly correlated with homelessness, but I think he means it is possible to

Poverty certainly aggravates things like mental illness and drug addiction, and is strongly correlated with homelessness, but I think he means it is possible to be materially comfortable in the sense of food/clothes/shelter, at least relative to places in the world where that isn't possible. But... welfare could stand to be higher, as could the minimum wage.