Just because he has his hand out is no reason to give every single time I see him.
Sometimes you have to make eye contact or they won't even ask. You know, treat them like a human being. They're used to being stepped on. They can tell who's likely to give them a buck or two and maybe even talk about the weather for a minute - and who's likely to pretend not to see them.
I give when I feel compelled to give and not out of obligation.
I feel better when I give than when I don't.
(My mother used to tell us: Be nice to people. You might be talking to an angel.)
... its always nice to know that God appreciates our selfless love towards others.
I couldn't care less what God appreciates. And if somebody does unto me as they would have me do unto them, I couldn't care less whether they do it out of "selfless love" or just because it's the decent thing to do.
... I count on being taken care of in the grand scheme of things. I suppose that the homeless feel that way too.
I doubt it. A lot of them have experience with hell-hole churches like the one that you went to.