Both choices can be responsible; the key is foresight, stewardship, and care. It's not having or not having kids per se, but how you contribute to society.
Responsibility is measured by our contribution to mankind, not by reproduction alone. A life devoted to science and service can advance civilization farther than any one generation.
I have learned freedom requires serving others; responsibility is not shrinking from duty but embracing it. Raising children to seek liberty and justice is a noble, public duty.