Read the goddamn budget announcement: "Orszag said that in addition to research and development, NASA’s proposal invests in 'advance robotics and other steps that will help to inspire Americans and not just return a man or a woman to the Moon but undertake the longer range research that could succeed in human spaceflight to Mars.'" [1]
Yes, the US has gotten unambitious in spaceflight. Yes, there's been nothing more inspirational than repeating what happened in the 60s. Yes, yes yes. That's the whole point!
The shuttle was canceled because it's stupid to turn NASA into the federal "send shit into Low Earth Orbit" department. We've done that, we've been doing that for half a century now, it's no longer innovative. What NASA should be doing is what no private enterprise can do: highly unprofitable risky space pioneering that inspires the human race. Let's take away money from boring and put it into interesting! How can anybody be against this?
Honestly, this is the reason we have politicians. Can you imagine how long we'd be running expensive useless shuttle missions if it was decided by popular opinion?
[1] http://www.spacenews.com/civil/100201-white-house-confirms-c...