My DH & I are right there with you, have been for the 27 years we've been together (dated/lived together 6 & married for 21 years). Thankfully it's almost the norm in our family, I have two sibs, a brother who had 1 child and my sister & her DH chose not to have kids. And in DH's family he's got four sibs, 2 sisters who are married both chose not to have kids, and his 1 brother had 1 kid and his other brother adopted the children that his now wife had from a previous relationship. People think that is pretty odd, but I think we just know what we want out of our lives and it's not kids!
We truly enjoy our time we have together, we don't get bored, we're not worried about who will take care of us when we get older. We have close families so they will be there for us as we will for them. And you can't beat being able to pick up and go and travel whenever we want. It's total "bliss"!