I have thought about this very topic for years. My own personal truth is I wish money was not needed at all, however, I realize it is always going to be necessary for a society to function.

I do think we can do better in a bunch of areas to help the masses live freely from debt though.

The constant and unrelenting greed that has consumed humanity forever must be stopped. I am a bit of a dreamer, so I choose to remain optimistic in this regard. I think bitcoin is an excellent first step. I think a universal basic income could be a good step (would need to really study it to back it further), I think streamlining different systems using blockchain technology (healthcare for example) could be helpful, and I think automation will do well to help humans live more fulfilling lives (someday).

But is comfort dependent on money? Yes, to a degree. If you have only enough money to pay your electricity bill, but not enough to pay your gas bill, then you would not be comfortable. But if you have enough money to pay all your bills, and then go get a pizza and come home and watch netflix and whatnot, then you are relatively comfortable.

I think comfort depends on money only to the extent of paying for your necessities. After that, comfort depends on what is really important to you in your life. For example, If all my bills are paid, and my wife and kids and I are all spending time together having fun, I am at my maximum comfort level. :)