What kind of assistance do you mean? Before Desert Storm, we really didn't need their military bases. But we've been close allies with the UAE since 1971. We've had close relations with Kuwait since the early 60's, including mutual agreements that allowed us to fly our flag over their oil tankers in the late 80's. Relations with Qatar go back to the early 70's.
"What is lacking in these countries is freedom of religion, freedom of the press, freedom of association, equality for women and democracy."
True. But we aren't going to change that by cutting all ties with them. That certainly hasn't helped matters in Iran and Syria. Conversely, since becoming even closer to our Arab allies since Desert Storm, all of those countries have made huge strides toward adapting a more western philosophy in all those things you list.