Waiters and waitresses work mostly off of tips and expect a 20% tip. No matter how good or bad the service is.
I know a lot of friends that serve tables and demand a 20% tip, but when I go see them at work, it's like they are living in hell. They walk around like their world is coming to an end. They do not make conversations with their customers, and they do not have any emotion.
If I was their customer, I would not tip them 20%, either.
Anyone who's waited tables or tended a bar the United States knows just how much tips matter. The U.S Department of Labor mandates that "an employer of a tipped employee is only required to pay $2.13 per hour in direct wages if that amount combined with the tips received at least equals the federal minimum wage. If the employee's tips combined with the employer's direct wages of at least $2.13 per hour do not equal the federal minimum hourly wage, the employer must make up the difference."
With that being said, because they potentially make very little per hour, they need to work for their tips. Bad attitudes and gestures are ways they will not get the desired tip. I have seen so many waiters and waitresses open up their book and shake their heads, but did not think twice about how they treated their customers at their tables. Good attitudes, making engaging conversations, and being happy are promising ways to earn desired tips.
We should always respect the person that attends to our needs while dining, even if they do not return the favor. However, I think there are many instances in which the server does not feel obligated to show respect to some people that are very rude or demanding of them.
When people go into a restaurant, yes, their main purpose is to get a bite to eat, but when going out, they should have received great service: great server, great food, great experience.
Tipping is the right thing to do, but it's for good service, not ALL service.
If the server wants the good tip they need to work for it.