It's a matter of perspective. By the world's standards, in which there is abhorrent abject poverty, just the fact that we have a roof over our heads, a car or two, food in the fridge, and clean tap water (well, most of us anyway) makes us rich. Then you throw in disposable income, fancy wine and cheese parties, retirement accounts, and occasionally being able to vacation and we live in the freakin' lap of luxury.
We all whine and lament, but stepping back and considering the bigger picture helps.
I feel pretty unencumbered and happy most of the time... and yes, rich.