You my dear, have the dream situation. Most people would love to have this. You have small bills every month, live in your means, put away for emergencies, save for the children's futures, use credit cards as they were meant to be used, and pay them off as they are meant. I bet your credit score is delightful. The only thing I would suggest is a small fund for frivolous things(like a spa day for two and childcare arrangements for that special date night, or tango lessons). Most savings accounts have suffixes where you can divvy up monies for things like that. I have one set up for emergencies and one for odds and ends I am saving for.
I have not tried any programs, but although I am on a severe budget, I do my best to follow the regime you do, and do NOT EVER live outside my means, and put away a bit for spontaneous acts of Murphy.
Kudos to you for sticking to a financial plan! A+