I don't think you're doing too badly, but as a PP said, rather than beating yourself up about where you are versus others, why not figure out what you want your financial goals to be, based on what YOU want (and what is reasonable) and focus on those. That'll bring you a sense of satisfaction and empowerment.
For example, have you run pension projections? The Hargreaves Landsdown pension calculator is great for this (just Google it, you don't have to be a HL customer to access it). You may realise you want to put more into your pension to have the retirement you want.
It's also good to have at least 3 months' salary's worth in emergency savings, which is more than you currently have. So you could set saving that sum as a goal.
Once you've done that, you could set yourself a new savings and investment goal. And so on.
I would add that being mortgage free in your 30s is by no means normal, although of course some people will be. Everyone's situation is so different, with family gifts, inheritances, joint incomes, different priorities... I'm 36 and only bought my first flat 2.5 years ago, so I only have 25% equity! If I can pay it off by the time I'm 60, I'll be ok. If earlier, even better (I do overpay a small sum each month but am prioritising saving and investing too). The average age of a first-time buyer outside of London is 32 (36 in London)! There's no way most people are paying off their mortgages within 8 years.
Basically, ask yourself what you want to be happy from here on in with money, and start taking action, and you'll feel better about it all, I'm sure.