Earlier quoted context omitted.
Poor people in the developed world do NOT live like kings of old. They have bosses. They struggle to find mates. They live in small, impermanent homes with no land of their own. They tend to be in debt, and don't even understand how permanent that debt will be for them. They're socially at the bottom. This is nothing like a king, who could have a large family, and was well fed, had permanent shelter, didn't pay rent,…
You are mixing social class with quality of life. Despite being at at the top of the social pyramid, kings of the past did not have many things that most of today's poor (in the US) do, like electricity, running water, air con, motor vehicles, antibiotics, the Internet etc.
80% of the hierarchy of needs is immaterial, so at best your argument is weak. In many cases people will actually sacrifice physiological needs to fulfill the spiritual, intellectual and social ones (flipping the need pyramid)