I think you kind of adjust your expectations. I'm on benefits entirely (although I do get disability benefits, so slightly more than just the basic) and I think I have a fairly good standard of life. I have internet etc, I do some fun things, I have gadgets and I can feed the kids and myself fairly well, DD1 does Rainbows and a drama group.
But, I don't even have a passport or driving licence (I have a disabled bus pass though), I get very few new clothes, I never go to the hairdressers, I live in a smallish terraced house with no garden etc, I have zero savings, the slightest problem has me using payday loans, All my furniture is second hand (the vast majority was free from freecycle/friends and family), I need new bras but I have to wait till February to afford them, etc. but I can honestly, honestly say I don't miss those things at all. I think maybe I've just kind of got used to it and I actually feel quite well off sometimes. Most of my friends have the same situation, and if someone is much higher than minimum wage we see them as rich, which is why some of mumsnet is a bit mind boggling.
I think the biggest thing is that, if one of my benefits was late, or my washing machine breaks, or I had to suddenly visit an ill relative, I would be buggered.