Paid well is a relative concept. One is paid well relative to other people, who are not paid as much. "Everyone should be paid well" - yes, that is exactly the kind of deluded thinking that "Utopia" refers to.
Humans need food, water, and shelter to survive. One can define an absolute concept of "paid well" meaning that these needs are met within a 40-hour work week. It is sad to me that this goal is considered a utopia by many.
Yes, though once you factor in expenses like healthcare or contingency savings — both of which are also arguably necessary for a secure life — the line becomes more blurry.
Healthcare should not be tied to employment. Basic retirement is already provided by Social Security. We can also improve the ability of people to afford room and board by lowering the cost of them, for example by letting people build more housing. Without increasing the supply, providing an ever-increasing amount of money to pay for something will only raise its price.