In those idyllic societies that you mention, there are still teachers, senators, merchants, and diplomats who have to do work. The only people I can think of who don't do "work" in ancient history are religious monks and rich people living off of an inheritance.
It's not work itself that is the problem. Work actually should contribute to happiness, but the conditions must induce that. The negative atmosphere that exists in many work environments is terrible. Rather than leaving with a sense of achievement for your expended efforts, you leave feeling beaten down and unappreciated.
