You hit the nail on the head.
I don't care how rich the rich are as long as our systems are set up to guarantee a minimum level of access to basic resources including housing, drinkable water, food, internet access, safety, healthcare and education.
As long as these minimums are guaranteed with a large buffer (and every century the minimums go up) I am fine with the wealthy having a lot of money. In our system, the banks invest that money anyway, when the rich aren't using it. These investments represent belief about future demand -- which may result more and more in a plutocracy. But as long as the rest of humanity lives comfortably, I don't care.
Safety nets produce real choice. They allow you to spend time raising your kids and educating them. The kids can join the new knowledge-based workforce. You can as well, since you can take time off to learn. We can maybe travel to the stars.
But without the basic guarantees (vouchers, single payer based) many people are stuck in dead end jobs or worse, grinding poverty. It's like a poker tournament where most people have a really small stack AND can't afford to fly out of the tournament. So much wasted opportunity for human knowledge.
The other thing is smashing the knowledge silos - patents on drugs etc. The way science and open source grew is that anyone could stand on the shoulders of giants and their contributons added to the growing body of knowledge. That's how you serve the long tail eg cure malaria the same way wikipedia has articles on obscure topics and linux runs on toasters. Public platforms outperform private ones.
To sum up: tax the robots, guarantee the basic safety net, put education online and use colleges for tutoring and certification only, promote patentleft for drugs and open source for software.