That's a common feeling among the children of well off parents when the parents are budgeting properly. What happens is that the parents do the smart thing and invest the extra and set aside an emergency fund. Having to dip into either one is psychologically a failure. They have a budget, and they only "struggle" because they want to stay within that budget.

That might mean having store brand mac and cheese for lunch and driving a ten year old Toyota Corolla. To their children, they don't seem well off. In fact, they're the only people who can be properly considered middle class. That is, instead of being one step away from being homeless, they're two steps.