If you earn £100k between you take home about £5.5k without paying in to a pension. Most people in professional jobs do pay into a pension so lets call it £5k.
I know we were talking London, I'm going slightly on a tangent as I live in the Home Counties and commute in...
You pay a mortgage on a 3 bed family home which is probably £2k or so.
You both commute into London, the monthly train/tube fair is c. £900.
Parking at the train station is c. £160 assuming you can go in and back at the same time and don't need to use 2 cars.
One child in nursery every day is about £1.5k. Let's assume the other child gets wraparound care with grandparents.
Council tax is c£275
Two mobile phones £70
Car insurance and tax £70
Utilities £100
Groceries £400
Virgin/Sky/internet £50
Home insurance £30
Pet insurance £40
So already you're basically out of money, so let's say you scrimp and save a bit off groceries, phone bills etc for a cheap week away.
You're probably leaving the house at 7-7.30am, getting home at 7.30pm.
At the end of the day you live in an average 3 bed semi, in an 'okay' area, share one car and are still scraping by.
I wouldn't say that was "rich". Not poverty by any means but definitely not rich.