For most of the modern era, most people in the rich world have been poor, just like their parents and their children. Social mobility was more dream than reality. Most people were born to serve, as were their children.
The ruling minority liked to imagine that the human oxen laboring in their fields and the women who cleaned their homes and cooked their meals were happy with their lot, and professed shock and horror whenever these hereditary servers sought out ways to improve their station — whether that was by joining the industrial revolution or striking out for a colonized land and the promise of stolen estates and downtrodden servants of their own.