That depends on the situation. For people too sick to work or those temporarily out of work due to unavoidable circumstances, yes, definitely.
Too lazy to work, no, but thats a tiny minirity. Despite what the Telegraph says, unemployment benefit is a tiny payment and very, very few people want to live on that.
The problem is that most people on benefits are working but wages are so low that they need topping up. Its effectively subsidising businesses paying crap wages.