He said it another way in 6:35, and included a reward: "…lend, expecting nothing in return and your reward will be great, and you will be sons of the Most High, for he is kind to the ungrateful and the evil. Be merciful, even as your Father is merciful."
And again in verse 38, he said "give and it will be given to you. Good measure, pressed down, shaken together, running over, will be put into your lap. For with the measure you use it will be measured back to you."
Jesus commands us to give to the poor without judgment, but promises a reward to us for obedience. In all we model our Heavenly Father, we extend mercy. May the poor see our gracious Heavenly Father in us and desire to know him.