I have friends who go every year who don't have a lot of money...
One set flies free (miles from Dad's work), the other set keeps their eyes on TravelZoo (I've nipped down to LA and back for $80 including fees), do when an uber sale happens they buy air tickets then, and THEN they request time off work/school. Saves their family of 6 a couple grand to several grand.
We don't even go half as often (love it, but I used to live in HB and go every month, so it's not as high on my radar), but I do the same thing with airfare. Buying through Disney has always been best savings. Especially the NBTSD, but even then... On property Disneyland Hotel (basic room) has never been more than$100 per night. We alternate park and pool, and eat in our room.. So food is the same as at home (minus 1 character breakfast or ride meal :)
Is it expensive? Yep.
Some people may just have oodles of money, most I know just have different priorities.
What do you spend 3k per year on?
If you're like most people, probably a lot of stuff. People without oodles of money, who travel for pleasure, just spend that 3k traveling. Ex:
$100 per month less in food
$200 per month not eating lunch at work
$100 per month on cable tv
$100 on 2 fewer tanks of gas per month
There's $500 a month in savings that most middle income families can do. Other ways travellers save up cash is long term choices:
Activities
Clothes
Sports
Entertainment / movies / dates/ iTunes / etc.
No alcohol (or less)
Host few family or friend gatherings
Smaller presents / small parties (birthdays and Xmas)
Smaller house (or further away)
The list goes on and on and on. The same sorts of 'belt tightening' one does whenever you need to spend less (job loss), or save more.
If you can find a couple hundred a month in nickel and fine fashion (subscriptions, lunches, gas, cable, whatever), or make a major change... Then travel becomes 'easy' because the cash is there, as long as you're smart about how you spend it. But it has to be a priority (like anything else) to save for it in the first place AND one has to not already be on the last belt notch. If youre already cutting every corner just to survive, savings just aren't gonna happen, ya know?