2 thoughts.
1. I could see Vanguard saying the same thing. No, your overall portfolio performance shouldn't match the SP 500. You should be more diversified and balanced portfolio. Your portfolio will likely include bonds and international stocks.
2. Comparing apples to apples, large cap stock fund to the SP 500, then your returns should be close. Bond fund to bond index, your returns should be close. If your returns are lower it's probably because you are at Edward Jones.