There are many motivations to give. Ultimately, the best reason stems from wanting to give. If a person is giving only because there is a perceived benefit to themselves, than that is not giving, but a form of selfishness. If a person can never get past their own self, than they have an emotional issue. You seem to advocate giving, only because it enhances you, even if that enhancement is a good feeling or whatever.
Correct me if I am not understanding you the way you mean to come accross. I believe that people who willingly give to others actually help themselves via self-improvement. I believe that giving should be done willingly from the heart rather than done due to social pressure and guilt, and you see this as sociopathic? Are you serious?
I never mentioned social pressure. I am a pretty introverted guy, who most of the time doesn't even notice when I am in a situation where I should even be feeling social pressure, so trust me, it is rarely a motivation. However, that doesn't mean that doing the right thing doesn't often suck because people can be ingrates. But others being bad does not negate good, nor does it negate good intentions. Those things stand on their own.
If you are looking at this thing from a selfish perspective, than fundamentally all human interaction is an exchange of value, similar to a market. However, from my perspective, there can be times I gain no value in either a resource or emotional sense. I do something good, in the case of the driving the guy to church, it was a PITA because I am always running late to church and the people did not understand the value I placed on my sacrifice in gas, time, etc. Because they did not recognize it, they did not reciprocate. That made the venture not pleasurable sometimes, but I did it anyway because it was the right thing and I am mature enough to do the right thing in the face of negative or neutral response. Now you say I gained value in self improvement. Well I contend that self improvement is not always satisfying for reasons mentioned earlier in this paragraph and is ultimately a neutral thing in terms of emotional positive or resource positive value. It is both emotion and resource neutral. So it does not work in terms of transaction and therefore cannot be a selfish motivation. However, I continue to do these sorts of things because I conclude in my mind that it is the right and proper thing despite what others do.
But yes, if you only help people because you believe it brings good to you, than you are never not focused on you and there is something very wrong there.