When did Rush ever say that?
In a healthy healthcare system, people would pay routine medical costs out of pocket, and, because of a functioning free market, those costs would be reasonable. Insurance would only kick in for extraordinary costs e.g., you develop cancer or you need an expensive drug to control a chronic condition or you get in an accident or something.
Of course, Rush is rich enough to self-insure. But some sort of high-deductible protection is best for the rest of us, so we don't overpay premiums and don't go bankrupt if we do get sick. It should be fully portable and renewable. Prices for treatments should be fully transparent. You should be able to shop for coverage across state lines, state insurance commissioners be damned.
And that's exactly what HSAs are (were) for.