Indeed, there are different interpretations of the social contract.
You have essentially two polar options.
First option is that social services come with strings attached that entitle the providers to control the lives of the recipients.
Second is that social services are freely given, and the recipients have not given up their autonomy. the givers can choose to stop giving, or place conditions on gifts, but they dont get direct control over the recipients.
Either are fine in theory, but the problem is with ex-post recontracting. for example, when a gift or service is freely given, and then someone demands payment later.
There are some interesting works of fiction that explore alternatives. For example, allowing adults to choose how much of their autonomy they want to abdicate for differing levels of entitlements and guarantees.