Welfare is not guaranteed income, it is income provided on the condition that a person can prove they are poor enough to need it. Much like income that is provided on the condition that a person goes to work, it can be taken away if the condition ceases and creates an incentive for the person to maintain that condition.
And, of course, we have no reason to think that capitalism even helped Elon Musk. Maybe if we worked under a different system we’d have 10 times as many famous inventors/entrepreneurs because they wouldn’t have been shut down and kept out by existing moneyed interests. Saying that Musk is an argument for capitalism might be as valid as saying that Ginsberg is an argument for sexist selection of judges - if great women like her are getting to the supreme court then the system must be working, right?