Then maybe the server should tell the customer how much they need to be tipped?
"Welcome to AppleBees. My name is Trevor and I need an additional $24.89 in tips today so that my employer isn't obligated to pay me the minimum wage for this state."
Also, should I be under-tipping waitstaff that I think are rich enough?
This is not true in all states. Kentucky has no provision for this, e.g. (I worked in restaurants through college, so I have hands on experience here.)
Maybe it was different when you were in college?
That said, its just the right thing to do for servers are trying their best. Finding a few dollars per table makes their day a little brighter.
Pay at the bar before receiving food? Don't tip.
Buying drinks at a bar? Don't tip.
Ordering an Uber? Don't tip.
Etc.
They also almost definitely remember (and talk about) people who don't tip at all.
No, the owner of the place deprives his/her employee of a living wage. I don't see how can that be possibly the responsibility of the customers.