I don't think your examples paint the picture you intended here, instead it comes across as entitled and lacking in empathy.
> "...he thinks he deserves $20."
Who said anything about deserving? You said as much that you'd drive yourself when it came to a $20 ride; you wouldn't drive yourself if it was $10. This more or less suggests the only reason Uber provides value to you is because it charges less than what you'd charge if you were providing it, because you think you deserve $20. In that instance it's not unfair to say that you get value out of Uber undercutting the competition.
> "Those that think they should earn more can quit..."
I suppose they just need to pull themselves up by their bootstraps too? Not many of us can enjoy the privilege of quitting our jobs because we know we're worth more than we're getting. I have that privilege and I use it often, like many of us do in tech. For as long as we value low prices at all costs, there will always be someone who is forced into taking on this kind of job because they don't have the luxury of choice that we do. They can't quit because it's either the $10 you want to give them, so you can save $10 for yourself, or nothing.
It's been clear enough for a long time that those who enjoy the services from others won't really advocate for them, and neither will their employers, so unions and regulations are there to sort that out.