All based on perspective.
For the fiscal definition:

I live completely debt free in my fantastic five bedroom home with an elaborate movie theater 205" screen, supported by dozens of amps and speakers in the largest 24'x32' room in the basement. My savings are healthy so I (in theory) could live (At my current conservative means) without working for many years but I do not consider myself rich. My rusty car has 240,000+ miles and (to extend cloth life and save fuel) I line dry my clothes and practice a long list of saving (by not spending) coupons etc. I almost never eat out and have never had cable TV. These are not the practices of a "Rich" person. I'm not even middle class.

Middle class defined as "the social group between the upper and working classes, including professional and business workers and their families, would also not fall into the "Rich"category.

As a teacher/computer tech, I am down in the ranks of working class.

I know several people who are worth millions of dollars. Most of them do not consider themselves rich but accurately identify themselves as "middle class"

Money "Rich" by my definition is one who does not need to work and has the ability to travel and purchase at his/her own discretion, also one who lives in a state of luxury far above the masses.

Rich = lack of worry? Perhaps in some cases. However, to very roughly quote Darby 'OGill and the little people (Great 1959 Disney movie) "Who is happiest in the village? The village idiot." Is lack of worry necessary for happiness? Think there may be a positive correlation. I don't consider the idiot rich.

I find many of my most rewarding (rich) experiences are when I gain/teach an understanding of a concept or modify/build/create complex systems that correctly function, or feedback while performing in a theatrical production, or musical event; moving the emotions of a crowd with music/drama is rich. Experiencing the beauty of nature - landscape, storms, etc. is also rich.

I think of rich as havign enough money to live comfortably without having to work. Usually because investments or interest creates an income that is higher than expenses.

Poor is having to work more than one full tiem job in order to make ends meet.

Those who fall into the middle are "middl class.".

No one category is strictly definitive though. It is a continuum, that is not strictly or definitively demarcated.

You're mixing a lot of metaphors and labels here.

Poverty is relative but is generally defined as "not being able to get your basic human needs met with the result being chronic despair". The "poverty line" varies by cost of living in different parts of the world.

Happiness of course is a separate matter (as is its more useful cousin, contentment). One's ability to be happy while starving is not a justification of starvation conditions. One's ability to be unhappy while rich is not a justification of starvation conditions either. Separate issues.

As to "lack of worry" that is probably the point at which basic needs are met, given that one of the basic human needs is a sense of stability and safety. It's pointless to have your basic needs met if you live in constant fear of slipping back into poverty.

Once you have your needs met and a decent buffer against the vicissitudes of life, then more money generally doesn't increase contentment or self-reported happiness, and may even decrease it in ways.

A very loving family with very close ties.