It's all in the eye of the beholder. I don't consider us "rich" but our bills are paid, our children are clothed, we take at least one vacation a year (usually just a car trip with family, but we have fun), we have been to WDW twice in the past three years (after saving hard for it!), I have the "luxury" of being a SAHM, and my DH just bought me a hot tub for my birthday (which I have been wanting for about 7 years). Sure, there are some things which I have wanted for a while, but don't feel like we should spend the $$ on (like a bedroom set for us), but we are doing okay.
I have a friend who probably thinks we are "rich". I know that there are months where they probably just make the mortgage and live on the credit cards a lot. There have been times when we took our kids together to McDonalds she had to bring PB&J for her kids cause she didn't have the $10 for lunch. They live in a much smaller house than me in a part of town I personally wouldn't want to live in (sorry if that sounds snobby). But she has been able to stay at home with her kids since they were babies and she is grateful for that. But I hesitate to even tell her about the hot tub because I don't want to seem like I am bragging. But she is truly my dearest friend (aside from my mother and my daughter) and I wouldn't trade her for the world!!
So it is all "perspective". My kids and DH are healthy, we are all happy and we all love each other. I consider that "rich"......P