Upon further reflection......
Those women that do get epidurals, in my experience, BELIEVE, they need them.  In some cases I think they did, in order to preserve their memory of their birth experience as a good one. 
Not all epidurals are bad epidurals.  Do some have regret in not "toughing" it out? Yes.  Are some over the moon that they had an epidural?  Yes.
Complications during labor may lead to diminished control and coping options, often leading to epidural placement. 
Education is the key.  Doulas and all professionals providing care to pregnant women should be forthright about the factual pros and cons of all interventions.  At that point the pregnant woman can be confident and content about the decisions she makes about her individual birth experience. 
Happy Pushing to All! 

I am a doula.  I know that epidurals add more risk and open the birth experience up to more intervention which may lead to more intervention. 
I am a doula.  My first job as a doula is to help you acheive the birth experince YOU want.  If you know you are going to want an epidural during labor, then I will support your decision 100%. 
BUT, does an epidural lead to increased birth satisfaction?  I don't know.  Maybe I should start taking statistics during my post-partum visits?  I know how I would answer.  Do epidurals provide satisfactory pain relief to most women?  From my doula experience I would say the answer is yes!  Do these same women seem to acheive the same level of empowerment and satisfaction as women that deliver without pain medication.......sadly my answer is no. 
So my only course of action to help women have the "Best Birth" is to make sure they are making completely informed decisions for their birth experience.  Here is an excellent article about epidurals by Sarah Buckley.