By your definitions, there’s nothing wrong with taking welfare. But, simply making the government the agent of your theft does not make it right.
Welfare is a little different because it’s people not companies. People have a different life purpose than companies, companies exist for the SOLE purpose of making money, that’s it. People are supposed to have morals and providing for future generations and all that other stuff. A person taking welfare is probably failing on a bunch of other duties, a company doesn’t have any other duties.
The government isn’t the agent of the theft, the government is the PERPETRATOR, then the government gives it to somebody else.