I think this talk on Self-Compassion will shine some light on the concerns you have, if only indirectly.
A world where people are aware of this concept and practicing it, that might just be what you imagine when you say “a society of people who love to work, love to create. A society of doers, if you like.”.
edit: and for all the people who’re not quite aware of it, and for everyone really (making more money is nice, so), there’s still paid labor to make any amount of money on top of UBI. So I’d not say it’s absolutely needed as a prerequisite for everyone to know this. As much as I sure would prefer if it was common knowledge.