To the extent that investment in education has decent rates of return, but credit constraints due to a lack of a well-functioning market for student loans prevent people from making those investments, there will be much less education than is efficient.
Loan programs are directed at poorer students because it's presumed wealthier ones have access to "credit" from their parents.
Or, as Goodrich wrote:
Financial markets are incomplete in the sense that a student cannot acquire a loan against the collateral of future earning power (except with the help of the government and the rules and regulations to ensure such help).