Is there a way to reform Health Insurance?

Many Americans are left without health insurance. These people are left without insurance mainly because of lack of financials, or because there job simply does not offer it. Health insurance is so expensive these days that even the average American cannot afford to purchase it. Many people these days only make enough just to get by, having health insurance becomes a luxury. Many people do not see how vital our health is, and how lucky one is if they are healthy. Is it right to leave so many people without health insurance, and without the ability to go see a doctor when they need to? Of course people without insurance can still go to the emergency room when they need to, but then a trip that should of only cost a little ends of costing a lot. Should health insurance be a mandatory thing required by the state?
Massachusetts is one state that has made having health insurance mandatory. The benefit to this is often the insurance policies are much more affordable, if not free, based on the persons income. I think this is great, but the downfall to this is that it is taxpayers that are paying for these people to have insurance. So is it wrong for taxpayers to be upset about having to pay extra for other people to have insurance or should they be upset? I think that people should care about other human beings, and whenever we are in unfortunate situations and we need help we would like to have it to, so I like how Massachusetts requires people to have insurance, and I wish other states would fall this. I wish that there was an easier way to reform health insurance so that the taxpayers would not be the ones paying, but I do not see another way at this point.