If machines produce everything we need, the outcome will depend on how things are distributed. Everyone can enjoy a life of luxurious leisure if the machine-produced wealth is shared, or most people can end up miserably poor if the machine-owners successfully lobby against wealth redistribution. So far, the trend seems to be toward the second option, with technology driving ever-increasing inequality.
One of my favorite things about Hawking is that he wasn’t interested in building cityscapes on other planets; he was concerned about capitalism and inequality. Rest in power.