No, you don’t have to. But keep in mind unless you have creditable insurance, for example an employer sponsored health coverage, you will incur a late enrollment penalty that unfortunately you can’t get rid of.
If you have Medicaid, you should sign up for Part B. Medicare will be your primary and your Medicaid will be your secondary. In many states, Medicaid may be able to help pay your Medicare out-of-pocket costs (like deductibles, coinsurances, copayments, and even premiums) depending on the type of Medicaid you are enrolled in.
No, withdrawing Social Security doesn’t make you eligible for Medicare. You must be 65 years old unless you have Amyotrophic Lateral Sclerosis (ALS) or End Stage Renal Disease (ESRD) or have been collecting Social Security Disability Income (SSDI) for at least 24 months.