You have to separate financially rich from leading a fulfilling life. I have a riding buddy who is a multi millionaire. Ferraris, porsches, house on the water, waterskiing boat. Badass seven cycles custom that he rides to work most days. Kids getting done with HS and going off to high school, happy marriage. He bought his dad mostly out of the family business and grew it to great financial success. Happy, healthy, wealthy, livin the dream!
My old boss was also a multi millionaire. 12k sq ft house, several planes, hanger, also a waterski boat/dock, porsche turbo and blah blah. Underpaid employees, would threaten to sue people or hire PI's to dig up dirt on competitors, etc. One of the most miserable, miserly douchebags I've known. Not surprisingly he's estranged from his baby mama and I would guess probably his daughter as well. I always hoped he would wake up and turn it around but that's his battle to fight.
So yeah, no need to paint a picture of the money making people what they are. Money is a multiplier, simple as that. You'll be more of what you are.
To answer the OP, rich benchmark for me is $1m in liquid assets with no non-business debt.
To answer the greater Q, having a life with purpose, having strong, loving relationships and living meaningfully towards those things is a good life.