I just checked. My paycheck has Medicare/Social Security deducted from it. I don't know why yours would have Medicaid. 
I don't believe we should look down on people for using services when needed. Medicaid for pregnant women is a societal good, and last I checked the income threshold for a family of 4 with one on the way was almost $72k a year for the mom. I've worked plenty of jobs that haven't paid that much.