As I said, when farming became more efficient, it wasn't great to be a farmer.
But when I say (and I assume everyone else here also says) "I don't want to go back to a world where 90% of people had to be farmers" (because farming was so inefficient), that's another way of saying, the world that farming efficiencies gave us is richer / more preferable overall than the previous world. In other words, the economic surplus did not go exclusively or primarily to the richest.
I expect the same will be true for AI. I think our society should do more to help the displaced. But I do not want my grandchildren to live in a world where, 100 years from now, 90% of people are still doing jobs that could be done by a computer, but we choose for the computer not to do them. Just like I wouldn't want to have to be a farmer.