The poor remains poor because they want to get rich or try to live the life of the rich. Thus spending more than what they need.
Money management is the key factor for one getting rich or stuck being poor. Planing and acting on it could potentially boost the rate for one becoming successful in life.
If you look at the world's richest person, they were poor too. But they had the ambition to overcome their lifestyle and broke the system to reach at this point. And no, no one wishes to stay poor. It's just the situation and their personal choices that holds them back.