All depends where you are. I tip or don't in accordance with local practice. It's not fair to say that if you're from Western Europe where a tip is small and added for outstanding service that you don't need to tip in the USA where it's part of the process and expected.

I don't judge other societies for their choices.

That said, if you don't want to trip the bellman at a hotel in the USA, don't use him. If you don't want to tip the waiter at a restaurant, eat take out. The token booth attendant for the Subway in NYC doesn't expect a tip, but the cab driver does.