As long as you let people have freedom there will always be poor people.
The only way to not have poor people is to have a freedomless world with totalitarian rule where everyone is forced to be exactly the same. But the ones running the show will still have more than everyone else. You'd have to remove free will from humans.
Even cavemen had rich and poor because some would go out and hunt better and hunt more often and have more meat and more animal fur and so on.
Rich and poor have always existed because not everyone has the same potential. Very few can be Elon musk, more will be poor, and most are middle class. It's always been that way.
The idea every person is equal is a lie and untrue. Levels of potential and ambition vary. It's in our very nature and dna, it isn't some outside influence or stupid societal thing.
I could never be bill gates, bill gates could never be me, and there is some poor wretch out there that could never be me or Bill gates.