OurMiracle I am sorry to hear of your loss.
Yes, we often hear that social services will help and support, but in practice they often don't or can't. That is in part due to budget and time constraints, of course, but also because (as I said above) they need to know that the parent(s) can care for their child adequately without support, they are not in a position to keep offering the support for ages. They can have the child adopted and then they get to close the case, rather than keeping it on indefinitely. It shouldn't be a case of money in that kind of situation but of course it does become a case of money, if there is no money, they have very little choice. They are stuck between a rock and a hard place! Leave child with parent who is likely to need a lot of support, which they can't give, or take child away, get adoption order, close case knowing child is now safe. Extremely simplified version, of course, but you can see that they end up choosing that option, because the other is unsustainable. This may also have been the situation with the mum with MH issues mentioned upthread.
If they can close the case without an adoption order, they will, that would be their absolute best option. But they can't realistically offer lots of long running support, because they need to know that parents are able to cope without support and/or be proactive about finding support themselves if they need it in the future, not have it handed to them.
In an ideal world, they would have the budgets, or perhaps an entirely new department, from which to offer unlimited, conditional support to parents to allow them to keep their children where the issue is inability to function without support. The reality is that at the moment SS have two options to decide on in a relatively short time, and the onus is on parents to sort themselves out, the criteria of which is not always made clear.