KeithW - having lived in MO, yeah, your income is pretty darn decent! Even working 54 hrs at one job - it was considered VERY high paying - I didn't make your salary.
I live elsewhere now. Income has changed. We have much more income, but the cost of living is so much higher where we are now. We live paycheck to paycheck and are able to save a little. But we also live very frugally. I do purchase groceries on sale, I try to make most things from scratch (we grind our own meat, make our own flour, sauces, etc), have a little garden, shower at the gym when possible, etc. We don't compare ourselves to family or to neighbors or to co-workers. And our family definitely does NOT understand why we live the way we do. (We live within our means, not on borrowed income. Pretty much everything we have is paid for. If we can't afford it, we decline. It's a bit tough at family reunions when the others have adventures that would cost us $100-250 a pop, but they know by now, if we can't pay cash, we aren't doing it.)
DH started the trend of taking his lunch to work. Everyone ate out. And I do mean EVERYONE. He started declining their invites and bringing his lunch. When they'd give him funny looks, he'd ask them, "How can you afford to eat out all the time?" or "Ugh, don't you get tired of always eating out? I love making this for lunch..." He was bringing in leftovers, making special dishes, and occassionally having sandwiches. By the time he left that office, the majority of the people were bringing in their lunches too.
Stop worrying about what others are doing and do what's best for you. I basically read that you are spending about or at least $170 a week on eating out. What could you do with an extra $170 a week? Have steak night at home? Enjoy a nice bottle of wine with your wife?
It's YOUR life, YOUR paycheck, and YOU get to decide how to spend it. Don't let others bully you into following the crowd and spending money you don't want to.
It's not so much what you make as how much you keep. 
Just my two cents.
$170/ week x 52 weeks = $8,840/ year, which is AT LEAST $10K a year before taxes.
Give yourselves a raise, and stop eating out. Take turns with your family hosting dinner at home. I almost always bring my lunch, mostly leftovers, and when I don't and have to buy lunch, I regret it every time. My food's better.
As for all your friends, who knows how they're really doing? They could be living paycheck to paycheck, making minimum payments on their CC's, and Googling "bankruptcy."
eta: Oh, and sit down with your wife and think about what it would be like if one of you couldn't work. Pretend you don't have her income, and start saving it (as a couple.) Learn to live on less. You'll feel a lot more free this way, plus you'll have savings, which is hard to beat.
I found that the trick to bringing leftovers is that when you cook dinner, you first take enough for lunch the next day and stick it in the Crapperware, and put it in the fridge. That helps keep you from pigging out at night, too.
Then in the morning, it's ready to go. No excuses for not packing it in.
It will probably motivate you to up your mad cooking skillz at night, too. 
When I'm organized (it does happen!) I cook up a ton on weekends, and then I'm set for the week. Not being prepared by planning and shopping and cooking ahead = paying too much money, and for bad food.
@llecs wrote:
@KeithW wrote:I guess my biggest problem is the people we associate with all seem to have so much more money than we do. It just gets to where you don't appreciate that you have more than lots of others you don't know and things could be so much worse.
....It also doesn't help that many people tend to exaggerate their own income.
But what they aren't sharing is that they have a five- or six-figure debt and are 30 days away from a BK if they lost their job.+1
It's called status. Status is buying things you can't afford to impress people you don't even like.
+1
If looking to do so, start with your budget first. Create a written budget and commit to it.
Just seeing cost detail can be a huge eye-opener. Also, start simple and allow for changes.
There's nothing wrong with eating out everyday (except for health issues maybe) ...
You might be the first person ever to say this... <sheds tear from face> As a travelling man, I appreciate it
Also, your existing income is fine. Just make it work harder - you're the boss, not your income (well, theoretically).