Well, I've spent a few years living on about 10K/year, so even hitting the poverty line felt good. As we made more, I was astounded to learn that it is never enough. We now make about 55K./year steadily- my DH's income, and I still make about 10K. We don't factor my income in at all.
All of that to say, the way I manage to keep perspective is by focusing on all the things we can do. I don't have to count change at the end of the month to get a loaf of bread and some milk any more. I don't have to look at the gas gauge and wonder if I'll make it as far as the gas station. When we first began making about 30K, I felt wealthy- and i did some major impulse buying. We'd gone with NOTHING for so long, that the ability to have anything at all was overwhelming. With time, and as I got used to the reality that there really is another paycheck coming, I learned to budget and save a little, and I learned that we are doing ok, but only if we are still pretty careful.
To feel like I could really splurge on a regular basis, I would need to have about 80K/year.