This mindset is the problem, and the reason so many aren't prepared. You can procrastinate forever waiting to be 'better off', but you don't need to be rich to have a will or to ask your sibling, parent, friend if they are willing to raise your kids if you suddenly depart the scene.
As for money, you save what you can for retirement/college and start small on insurance. If you are relatively young and healthy, term insurance is fairly cheap.
Prepare because you never know. Yesterday my mother's first cousin went for a walk, was hit by a car and died early this morning.