Some states, like New York mandate public pension funding and do pretty well. There are issues with pension spiking for public safety positions, and some municipalities have had to bond to make payments, but as a whole the system works.
The formula is simple, don’t allow skipping out on liabilities and have an independent entity administer the plan. In New York, the state comptroller controls the pension funds as well as 529 plans. This avoids the issues in many states and the private sector where executives raid the funds.
The other issue with the anti-pension crowd is that people need to live. So no matter what you do, the public ends up paying for things like subsidized housing, healthcare and other entitlements that impoverished elderly people end up needing without adequate income. I think will start to appreciate this phenomenon when the wave of 50-somethings purged by the Fortune 1000 start qualifing for Medicaid.