I can't say what's normal in Houston, as I've only lived and worked in Los Angeles. Out here a developer with Java or .NET experience like you describe would easily start at $85k base at the companies I've worked for over the last 4 years. There would also be signing and annual bonuses and if you're good, significant raises each year.
Am I starting to wonder if I get ripped off for staying here and not asking for a big raise
I have always been baffled by this one. Usually at big companies there is a rule set by corporate that raises can only be 3-5% max in most cases. So even if you're good, the max you can expect on top of $70k is $3500 for your loyalty. If instead you had jumped to another company, you could have boosted your salary to $80 or $85k. And after you left, they would likely pay your replacement the same amount. So why don't companies just offer their loyal employees the higher salary (even if it exceeds the 3-5% threshold)?
The answer is, they do, but only if you threaten to leave. That's what I've done every year for the last 5 years. I never stop the job search, even once I land the job, and when I find a better job offer at the 1 year mark, I bring it to my current employer. Sometimes they offer to match the salary or offer better benefits, and I stay, other times I go with the other job that pays more or offers better benefits (sometimes the new job matches the counteroffer from my current employer).
In this way, I have increased my salary by an average of 19% per year since 2005, gone from no bonus to a very generous bonus package, increased vacation to 3 weeks, and negotiated telecommuting every Friday.