Usually temporary assistance, which is when you get cash is considered welfare.
Most people who understand this stuff don’t consider safety net programs like food stamps or WIC that way. The difference is that the Food stamps/WIC allow you to work, and most people on them do. “Welfare” requires you to not work in order to get a benefit.
The most vociferous disgust regarding people on welfare usually comes from people who you would consider to be on “welfare”.