Now combine two median incomes. You can very easily earn $80,000+ in a household, doing routine jobs without a bachelor's degree (a high school diploma is required), in thousands of typical mid-size locations in the US that are dramatically less expensive to live than the coastal cities.
Meanwhile, job openings have jumped to an all-time high.[2] While the supply of labor is at a very low level.
Pairing two median incomes delivers an upper middle class life, and does so easily given just a few years of continued improvement after reaching the median. That enables you to buy a good house in those other parts of the country (99% of the nation that is) and it enables you to live quite well if you're at all prudent. So there's your target: figure out how to get into the top 50% among the employed, not exactly a high bar.
[1] http://thehill.com/homenews/state-watch/326995-census-more-a...
[2] https://www.bloomberg.com/news/articles/2017-08-08/job-openi...