I don't like reductive economics logic over what is a humane response, but I do like that it may not only be nicer, but actually financially sensible.
(Also note that if that's your general policy then you effectively allow anyone to blackmail you to get whatever they want, just by making it slightly more expensive to not give them what they want)
1. The ER is free to you, because they legally cannot refuse to treat you based on your ability to pay.
2. A regular doctor's visit costs $250 and your medicine costs $5-$500/month depending on what you need, because those businesses won't give you things they don't think you'll pay for.
One need not be morally bankrupt to make choice #1. We all choose things that are more expensive for society because they are more convenient or less expensive for us - lots of regular activities of what patio11 calls the professional/managerial class have negative externalities that the rest of society pays for: air travel, personal automobiles, and lawns all come immediately to mind.
If you want people to get their medical care from a PCP and their medicine from the pharmacy, then make it cheaper for them. Health insurance companies know this; that's why many plans lets you see your PCP for a small fixed price even before your deductible is met - because they want to incentivise you to get your care in the way that's cheapest for them.