If avoiding responsibilities is going to overstep onto others, especially a dependent, like a pet or child (for those that have them) then yes, it is bad. On the scale of severity, expecting everything for nothing would be next.
I absolutely hate my position as 'disabled', leeching off my family. Even though I feel no sense of closeness in our dysfunction, I still prefer to contribute where I can. I used to fault my parents for having me, and to a degree it is their job to be around for their children and raise them properly (thanks for shirking your duties, dad). But eventually I realized it's pointless to dwell on now, and just creates more hostility and suffering. I don't like it, but it is what it is.
Once you're an adult, you tend to have options, barring extreme circumstances. If you can contribute, or better yet hold down a job—create some sort of income, yes, you ideally should. If not, I still think one should take care of other things like housework, or try to get on disability instead if your home life sucks (yeah, I'm aware it's difficult some places).
Sure, we can sit around arguing about the fairness of anything, but you, general 'you', will need to choose a path eventually.
Speaking as someone who has tried and failed in a variety of traditional work/edu 5x, due to my debilitating condition(s), I know how it can be. But I also know I'm lucky to be taken care of. I don't want to act entitled about it and not try ever again, for the sake of both my current 'providers' and myself. If that was the case, I would have CTB already.
Just in case it needs to be said, I'm not trying to be combative here; that's just my two cents.